The lubrication of molybdenum disulfide coatings has commonly been limited by the application environments, for instance, the crystal MoS2 are easily affected by water to form MoO3 that causes a higher friction coefficient and short lifetime. Therefore, to improve the tribolgical performance of MoS2 in high humidity condition, the co-doped Pb-Ti/MoS2 composite coatings are deposited by unbalanced magnetron sputtering system. The design of the co-doping elements in MoS2-based coatings can not only maintain the characteristic of low humidity-sensitivity as the Ti/MoS2 coating but also improve the mechanical properties and tribological performance of coatings as a comparison with single-doped ones. Moreover, the ultra-low friction coefficient with a minimum value of 0.006 under the vacuum condition is achieved for Pb-Ti/MoS2 composite coating containing about 4.6 at.% Pb, depending on the densification structure of coating. Intriguingly, the wear behaviours of Pb-Ti/MoS2 composite coatings are in accordance with the variation in H/E (hardness to the elastic modulus) ratio that the coating with higher H/E exhibits lower wear rate. These results demonstrate that the lubricating properties of MoS2 coatings in both humid environment and vacuum condition can be achieved through the Pb and Ti co-doped, which is of great significant for developing MoS2 coatings as the environmentally adaptive lubricants.