The invention discloses a micro-embedded self-lubricating texture on the surfaces of a gear and a cam and a preparation method thereof. The preparation method comprises the following steps of: performing micro texture processing on the surfaces of the gear and the cam by an Nd: YAG laser processing technology; and embedding a solid lubricant into the micro texture on the surfaces of the gear and the cam by a molding bonding technology of a self-lubricating composite material. The self-lubricating composite material comprises the following formula components in percentage by mass: 15 to 85 percent of polyimide (PI), 0 to 85 percent of polytetrafluoroethylene (PTFE), 10 to 40 percent of MoS2, 0 to 15 percent of WS2, 0 to 16 percent of graphite fluoride, 5 to 15 percent of graphite, 0 to 12 percent of PbO, 0 to 6 percent of antimony trioxide, 0 to 10 percent of CaF2 or BaF2, 0 to 15 percent of hexagonal boron nitride, 0 to 15 percent of nano lubricant and 0 to 5 percent of additive. According to the micro-embedded self-lubricating texture, the self-lubricating texture is subjected to micro embedding on the surfaces of the gear and the cam to ensure that the solid lubricant on the friction surface is stably supplied and uniformly coated, so that the lubrication and anti-wear properties of friction pairs such as the gear and the cam under complicated and harsh operating conditions are improved.