The crankshaft torsional vibration damper is a key component that affects the stable and reliable operation of internal combustion engines. The focus of this paper is on the impact of temperature on the working frequency of rubber of rubber torsional vibration damper. Firstly, the torsional vibration theoretical model of the crankshaft torsional vibration damper considering the temperature characteristics of rubber was established. Secondly, utilizing finite element methodologies and modal analysis techniques, studies on the torsional vibration frequency and modes of the rubber torsional vibration damper under different operating temperatures. Based on theoretical analysis, finite element simulation, and experimental methods, the influence of temperature on the torsional vibration frequency of the torsional vibration damper is explored. A testing method suitable for the torsional frequency of torsional vibration dampers under different ambient temperatures is proposed. Finally, the accuracy of the theoretical simulation model is verified through TVD modal and frequency response experiments. This paper provides a new method for the rapid design of internal combustion engine crankshaft torsional vibration dampers and the identification of torsional vibration frequencies.