Aimed at the partial slip problem of contact interface between assemblies at different temperatures, a semi-analytical model for 3D steady-state thermoelastic partial slip contact was established. Based on the thermoelastic theory and the heat conduction equation, the frequency response functions of the half space under heat flux and force load were given, and the corresponding influence coefficients were established. With the discrete convolution and fast Fourier transform (DC-FFT), the partial contact between the rigid high-temperature indenter and the thermoelastic half space was efficiently solved. The heat conduction behavior was assumed to follow Fourier’s law, and the stick/slip state on the contact interface was determined under Coulomb’s law. Based on this semi-analytical model, the effects of external loads and temperature differences on the surface pressure distribution, the friction distribution, the rigid body displacement, and the stick/slip evolution behaviors, were analyzed in detail. The numerical results show that, the increase of the temperature difference will lead to a decrease of the contact area, result in an increase of the peak values of the normal pressure and the friction, and significantly influence the regions of the stick zone and the slip zone.