A cantilever-based structure is proposed in this work for characterizing surface features of kinetic friction coefficients and surface roughness wavelengths. A cantilever, with a friction block on the free end of it to contact with target surfaces, is designed. Kinetic friction coefficients are measured by resonance frequency shifts of the cantilever, while surface roughness wavelengths are measured by the peak frequencies of friction-induced vibration of the cantilever. When the resonance frequency shifts $\Delta \omega \mathbf{R}$ reach a level of one hundred kilohertz, $\mu\mathbf{N}$ scale friction force and 0.001 scale kinetic friction coefficient detection can be achieved, while the contour mean width Rsm, correlated to the surface roughness wavelengths, are found to decrease from 181.4 to 78.5 with the vibration frequency increasing from 429.1 Hz to 1886.5 Hz. Comparing to traditional one, the proposed structure has advantage of being able to simultaneously characterize kinetic friction coefficients and surface roughness wavelengths, which can be used to sense very small changes in surface and is believed to be applicable to biomedical early warning.