A sealing boot for a rack and pinion steering system includes a tubular body structure of flexible seal material formed with a plurality of convolutes and terminating at each open end in a neck. An inner sealing surface of at lease one of the necks is formed with a plurality of annular, alternating grooves and ribs, which reduces the contact area of the sealing surface and provides annular pockets for retaining lubricant at the sealing surface to provide low frictional resistance to the rotation of the component about which the neck is sealed relative to the boot.