Friction is a widely existing phenomenon, and accurate friction modeling is of great importance for higher precision in the control of motion systems. Friction can be affected by multiple factors, and temperature is one unignorable. Therefore, this paper designed a friction test procedure including different working conditions to explore the influence of ambient temperature on friction. It is found that in the macroscopic slip stage, friction decreases with the increase of temperature. In the pre-sliding stage, the influence of temperature on friction is not obvious. In addition, the experimental data show that hysteresis of fiction exists for the tested material. Based on the existence of hysteresis, a Bouc-Wen hysteresis model is proposed to replace the common symbolic function, which can obtain a smooth function when the friction passes through the zero velocity. Finally, a hysteretic friction model considering ambient temperature is constructed, and proposed model is consistent with test data, which proves the effectiveness of the proposed friction model.