Biomimetic fingertips typically are made of anthropomorphic shapes with uniform surfaces that allow one to firmly grasp an object without slippage. However, like in human fingers, we need to be able to slide over objects with the rigid outer layer of the skin in texture discrimination tasks to perceive the friction-induced vibration and mould around the objects for a firm and stable grasp with a soft and compliant finger pad and internal bone. We propose a morphologically biomimetic variable-friction fingertip aimed at enhancing robotic grasping and manipulation. The proposed fingertip mimics the frictional and physical properties of the human fingers, incorporating low- and high-friction surfaces to enhance effective within-hand object manipulation. The high-friction surface incorporates the ridges like in human fingerprints to facilitate a firm grasp with a minimal force-to-load ratio. A series of experiments were conducted to show the effectiveness of the proposed variable-friction fingertip in comparison with the base fingertip. This research highlights the critical role of friction in robotic dexterity and offers insights into the development of advanced tactile sensors that can improve the performance of robotic systems in real-world applications.