The FeS solid lubricating coatings were prepared on the AISI 5140 steel by chemical bath deposition (CBD) coating technique at various temperatures from 30 to 90 °C. The influence of temperature on microstructure, microcracks, and tribological properties was characterized and studied by X-ray diffraction (XRD), scanning electron microscope (SEM), and energy dispersive spectrometry (EDS). The results show that the coating mainly consists of Fe_xS_y (FeS, FeS₂, and Fe_1−xS), and has a chrysanthemum-shaped (CS) morphology composed of the FeS crystal petals. The CS particles nucleate at about 30 °C, rapidly grow and reach a peak thickness at about 50–70 °C, and finally disappear and are replaced by disordered thick petals at 90 °C. The wear resistance of the steel was improved obviously after introducing of FeS coatings, owing to that the coatings can provide better lubrication and improve the wear resistance.