Amphiphilic anionic and cationic graft copolymers possessing poly(2-hydroxyethyl methacrylate) (PHEMA) backbone and poly(methacrylic acid), poly(2-methoxyethyl acrylate-co-methacrylic acid), and poly(2-methoxyethyl acrylate-co-2-(dimethylamino)ethyl methacrylate) grafts are constructed by merging reversible addition–fragmentation chain transfer (RAFT) polymerization, copper-mediated atom transfer radical polymerization (ATRP), and a selective deprotection reaction. Initially, multifunctional ATRP macroinitiators based on PHEMA backbone are prepared by RAFT polymerization. Then ATRP of the corresponding monomers followed by deblocking reaction leads to well-defined amphiphiles with narrow molecular weight distributions (PDI ≤ 1.29) and varying content of methacrylic acid. The graft copolymers showed effective surface adsorption and lubrication for self-mated poly(dimethylsiloxane) (PDMS) contacts in physiological salt concentration. This is indebted from “dilution” of the charges along the grafted chains by balancing neutral/charged repeating units to minimize the accumulated charge repulsion on neutral surface. Improved lubricating properties of the graft copolymers compared to the block copolymer counterparts further support superior stability of graft copolymers on surfaces.