Soil adhesion is a major problem for agricultural machinery, especially in sticky soils within the plastic range. One promising and practical way to minimize soil–tool adhesion is to modify the surface geometry to one inspired by soil-burrowing animals. In this study, 27 domed discs were fabricated according to an L27 (33) Taguchi orthogonal array and tested to determine the optimal dimensions of domed surfaces to reduce drag force. The optimized domed disc was tested in a soil bin under different soil conditions (soil texture: silty loam and sandy clay loam; soil moisture content: 23%, 30%, and 37%). All trials included a flat disc (without a dome pattern) as a control. The optimal dimensions of domed surfaces to generate the lowest possible drag force under the present experimental conditions were explored based on signal-to-noise ratio analysis. The optimal levels of control parameters were found at a surface coverage ratio of 60%, dome height of 5 mm, and dome base diameter of 20 mm. Statistics revealed that the dome height-to-diameter ratio and disc coverage ratio are crucial factors that influence the drag force of domed surfaces. In contrast, the dome base diameter had a limited influence on drag force. In all treatments, the drag force of the optimized domed disc was less than that of the flat disc (by about 9% to 25%, according to soil conditions). Accordingly, it can be concluded that adequately designed domed surfaces could significantly reduce the drag force in sticky soil compared to their flat counterparts.