To address the issues of high stalk breakage rate and the mismatch between extraction force and operational speed in current horizontal shaft counter-rolling cotton stalk pullers, this study presents a novel clamping mechanism. The mechanism enables precise adjustment of the rollers’ rotational speed, inter-roller gap, and surface topography. The objective is to systematically investigate the effects of these key parameters on the peak extraction force and its timing during the stalk pulling process. Initially, pre-compressed cotton stalks were employed as test specimens. Their tensile properties post-compression were investigated by simulating the extraction forces using a universal testing machine. Subsequently, the structural design of the critical components for the test rig was created based on these experimental findings. Theoretical analysis identified the surface texture of the clamping rollers, their rotational speed, and the clamping gap as the primary experimental factors. The effects of these factors on the peak extraction force and its timing were analyzed using Response Surface Methodology (RSM). The results indicated that the optimal combination—striped surface texture for both rollers, a speed of 220 rpm, and a zero gap—yielded a time to peak force of 0.05 s and a peak force of 710.77 N, which is significantly below the measured tensile strength limit of 994.60 N for compressed stalks. This indicates that the designed clamping device for the horizontal shaft counter-rolling cotton stalk extraction machine achieves faster extraction speed while ensuring stalk integrity, and the research results can provide theoretical foundation and design guidance for the development of horizontal shaft counter-rolling cotton stalk extraction machinery.