We investigated the effect of low concentrations (0.1 to 1%, wt/wt) of gelatin (types A and B) on the properties of acid milk gels in terms of rheology, tribology, texture, and water-holding capacity to better understand the role of gelatin in yogurt. The 2 types of gelatin showed similar effects on the properties of milk gels, with some minor differences, such as lubrication behavior at low concentrations. During acidification, gelatin at ≤0.4% caused an increase in the gel strength, and at higher concentrations it showed a negative effect. However, during cooling and annealing, we observed a positive effect on gel strength with 0.8 and 1% gelatin. Gelling and melting occurred at 0.8 and 1% concentrations of both types of gelatin. The addition of gelatin tended to decrease the storage modulus of milk gels and increase the apparent viscosity, pseudoplasticity, consistency, and yield stress. The firmness of the gels was decreased by gelatin at medium concentrations, but increased at high concentrations. Gelatin significantly enhanced the water-holding capacity of the gels; we observed no serum at concentrations ≥0.4%. With the addition of gelatin at concentrations ≥0.4%, the particle size of gels was greatly reduced, and their lubrication properties were significantly improved. This study showed that 0.4% was an effective concentration in acid milk gel; above this concentration, the properties of the milk gels were greatly changed. Tribology provided important information for understanding the role of gelatin in milk gels.