The nonlinear friction torque of the double gimbal control moment gyroscope (DGCMG) gimbal servo system heavily influences its control precision with a gyroscopic effect. In order to alleviate this issue, a method of creating an accurate friction torque modeland identifying its parameters are presented. The dynamics of the CMG gimbal servo system are analyzed. Based on the study of the friction torque in inner and outer gimbals which are related to gimbal′s angle velocity and gyro torque, an accurate model of friction torques in the inner and outer gimbals has been established. Then, using the forgetting factor recursive least square (FFRLS) method, the parameters of this model are identified using the real coefficients of the CMG and experimental sampling data. The accuracy of the friction models and the identification results are validated through experiments, which serves to compensate the nonlinear friction torque of DGCMG gimbal servo system and improve the control precision of the gimbal servo system.