Design/methodology/approach The MoS2-V coatings are fabricated via tuning V target current by magnetron sputtering technique. The structural characteristic and elemental content of the coatings are measured by field emission scanning electron microscopy, X-ray diffractometer, electron probe X-ray micro-analyzer, Raman, X-ray photoelectron spectroscopy, high resolution transmission electron microscope and energy dispersive spectrometer. The hardness of the deposited coatings are tested by a nanoindentation technique. The vacuum tribological properties of MoS2-V coatings are studied by a ball-on-disc tribometer. Findings Introducing V into the MoS2 coatings results in a more compact microstructure. The hardness of the coatings increases with the doping of V. The MoS2-V coating deposited at a current of 0.2 A obtains the lowest friction coefficient (0.043) under vacuum. As the amount of V doping increases, the wear rate of the coating decreases first and then increases, among which the coating deposited at a current of 0.5 A has the lowest wear rate of 2.2 × 10–6 mm3/N·m. Originality/value This work elucidates the role of V doping on the lubrication mechanism of MoS2 coatings in a vacuum environment, and the MoS2-V coating is expected to be applied as a solid lubricant in space environment.