In this work, we synthesized graphene oxide functionalized a surface-imprinted polymer based on the self-polymerization of dopamine to generate the imprinted cavity. Using minocycline as the template molecule, effects of experimental conditions in the imprinting procedure such as γ-MAPS@GO percentage, template concentration, and self-polymerization time of dopamine on the selectivity and performance of the prepared molecularly imprinted polymers were investigated. The characteristics of the prepared surface-imprinted polymer were determined by scanning electron microscope, transmission electron microscope, energy dispersive spectroscopy, Fourier-transformed infrared spectra, X-ray photoelectron spectroscopy, thermal gravimetric analysis, atomic force microscope, and water contact angle. The prepared graphene oxide functionalized surface-imprinted polymer showed good recognition capacity and enrichment performance for tetracycline antibiotics and was successfully applied to the detection of the target analytes in milk samples.