Boundary lubrication state may dominate the friction pairs operating under severe conditions, yet its mechanism is not clearly understood and related numerical models are still lacking. A boundary lubrication model considering zinc dialkyldithiophosphate (ZDDP) tribofilms, which impact the friction and wear performances, is developed in this study. A series of reciprocating experiments are conducted to verify this model and also to investigate the effects of the tribofilm on friction and wear under various temperatures and loads. Moreover the experimental data are employed to modify the tribofilm remove model, which enables the present boundary lubrication model to be applied under a wide range of loads. The results show that the friction force and wear depth both decline with the increasing lubricant temperature due to a thicker tribofilm formed. As the load becomes heavier, the wear depth keeps increasing, while the tribofilm thickness first increases then decreases.