The need for ecological alternatives to traditional petroleum-derived polymers has attracted recent interest in biomass composites, which are made from carbon neutral raw materials. To develop the new engineering materials such as mechanical sliding parts (tribomaterials) based on all inedible plant-derived materials, the aim of this study is to investigate the frictional and wear properties of recycled natural fiber, which is recycled jute fiber (R-JF) and sisal fiber (R-SF), reinforced plant-derived polyamide 1010 (PA1010) biomass composites. PA1010 was made from sebacic acid and decamethylenediamine, which are obtained from plant-derived castor oil. R-JF and R-SF were surface-treated by two types of surface treatment: (a) alkali treatment by sodium hydroxide (NaOH) solution and surface treatment by ureidosilane coupling agent, and (b) alkali treatment by sodium chlorite (NaClO2) solution and surface treatment by ureidosilane coupling one. These biomass composites were extruded by a twin extruder and injection-molded. Frictional and wear properties by ring-on-plate type sliding wear testing were evaluated. The worn surface of these biomass composites, the transfer film on the counterface and wear debris were observed by scanning electron microscope for understanding the wear mode. It was found that the frictional coefficient and the specific wear rate improved with the filling R-JF and R-SF and their surface treatment by alkali treatment and silane coupling agent. Especially, the combination of NaClO2 and ureido silane coupling agent was the most effective surface treatment for the improvement of the tribological properties of these biomass composites. These results may be attributed to the change in the mode of wear mechanism by the types of natural fiber and surface treatment caused by the good dispersion of fibers in the composites.