To enhance the wear resistance of artillery barrels in harsh environments, TaC and Ta/TaC coatings were prepared on 30CrNi2MoVA steel using double-glow plasma surface metallurgy technology. These coatings, of which their surfaces consisted of almost pure TaC phases, showed defect-free interfaces with the substrate. The Ta/TaC coating demonstrated excellent integration, forming a nearly homogeneous structure. The coatings exhibited a gradient cross-sectional hardness, affecting a depth of approximately 20 μm. The Ta transition layer significantly enhanced the microhardness and adhesive strength of the TaC coating, with about 16.7% and 68.5% increases in the Ta/TaC coating, respectively. Both coatings markedly improved the wear resistance, showing slight wear at room temperature and minor oxidative wear at high temperatures. The Ta/TaC coating had more stable friction coefficient curves and a lower specific wear rate, with an 11.4% wear rate of the substrate at 500 °C. Thermal mismatch and stress concentration under wear loads caused extensive cracks and edge chipping in the TaC coating. In contrast, the good compatibility between the Ta transition layer and the TaC layer allowed for cooperative deformation with the substrate, creating a plastic deformation zone that reduced internal stresses and stress concentration, maintaining the intact structure. This study provides insights into applying Ta/TaC coatings for artillery barrel protection and broadens the possible application scenarios of the preparation technology.