The friction and wear behaviours of carbon fibre (CF)- and carbon nanotube (CNT)-filled styrene–butadiene rubber (SBR) composite was investigated in a ring-on-block wear tester. Ti6Al4V alloy ring (with a diameter of 28 mm) was selected as the counter body in this study. It was found that the detachment of particles, ripples and ploughs were observed under higher load. The addition of CNT efficiently improves the interfacial adhesion of CF/SBR composite. Both the friction coefficient and wear increased with load, and the CNT-filled one showed lower friction coefficient and wear.