The lubrication of hydrogels arises from fluid or solvated surface phases. By contrast, the lubricity of articular cartilage, a complex biohydrogel, has been at least partially attributed to nonfluid, lipid-exposing boundary layers. We emulated this behavior in synthetic hydrogels by incorporating trace lipid concentrations to create a molecularly thin, lipid-based boundary layer that renews continuously. We observed a 80% to 99.3% reduction in friction and wear relative to the lipid-free gel, over a wide range of conditions. This effect persists when the gels are dried and then rehydrated. Our approach may provide a method for sustained, extreme lubrication of hydrogels in applications from tissue engineering to clinical diagnostics.