The appearance of a series of high performance fibers, such as carbon fiber, Kevlar fiber, high-strength glass fiber, has led to the rapid development of composite technology. The enhancement of high performance fibers gives the new composites the advantages such as high specific strength, high specific modulus, low density, good fatigue and thermal stability, which traditional composites do not provide. Among them, the carbon-based composites has the best thermal conductivity make it able to withstand higher temperatures than other fiber reinforced composites. The friction and wear performance of these new composites has higher requirements. Friction and wear behavior is the result of the surface properties of material, which controls the stability and service life especially in applications where the material has to support loads for high number of rotation. The present work is focused on the study of the friction and wear behavior of staple carbon fiber reinforced polymer composites (SCFRP). This composites were produced by film stacking of staple carbon fiber as reinforcing material combined with resins as the matrix. Three kinds of composite materials were produced with different resins adding which namely polycarbonate, epoxy resin and rubber, respectively. Different processes were designed to control the surface impregnation ratio of composites to have different surface properties. The static and dynamic friction properties of SCFRP under both dry and oily conditions have been thoroughly investigated. The static friction behavior for SCFRP were studied by using tensile machine with friction testing clamp equipped and the dynamic friction behavior for SCFRP were studied by using a rotary wear testing machine. The impregnation rate surface properties of SCFRP will be observed using a SEM and roughness measuring system. The experimental friction and wear data of various SCFRP were analyzed in order to obtain the friction coefficient.