The friction nonlinearity affects the control performance of the DC servo system. To solve this problem, a variable gain active disturbance rejection control (VGADRC) method is proposed. A differential equation model of the DC servo system with the LuGre model is established. Based on this model, a composite controller combining the friction compensation and the active disturbance rejection control (ADRC) is designed. Without increasing the observe gain, the LuGre model of the controller is used to feedforward compensate for the friction nonlinearity in the system. At the same time, the effect of measurement noise on the system is reduced. In addition, to suppress the initial moment peaking of the conventional linear extended state observer (LESO), the third-order variable gain linear extended state observer (VGLESO) is used to estimate the total disturbance in the system. Finally, the simulation results demonstrate that the proposed control method can effectively improve the low-speed tracking performance and dynamic performance of the system.