Formaldehyde is an important downstream chemical of syngas. Furniture and household products synthesized from formaldehyde will slowly decompose and release formaldehyde again during use, which seriously affects indoor air quality. In order to solve the indoor formaldehyde pollution problem, this paper took the catalytic oxidation of formaldehyde as the research object; prepared a series of low-cost, acid-treated manganese dioxide nanorod catalysts; and investigated the effect of the acid-treatment conditions on the catalysts’ activity. It was found that the MnNR-0.3ac-6h catalyst with 0.3 mol/L sulfuric acid for 6 h had the best activity. The conversion rate of formaldehyde reached 98% at 150 °C and 90% at 25 °C at room temperature. During the reaction time of 144 h, the conversion rate of formaldehyde was about 90%, and the catalyst maintained a high activity. It was found that acid treatment could increase the number of oxygen vacancies on the surface of the catalysts and promote the production of reactive oxygen species. The amount of surface reactive oxygen species of the MnNR-0.3ac-6h catalyst was about 13% higher than that of the catalyst without acid treatment.