This paper is the study on dry sliding wear behavior of carbon fiber reinforced epoxy matrix composites against lay-up orientation. Tests were investigated on the effect of the lay-up orientation, fiber sliding direction, load and sliding velocity when circumstance keep continuously at $21^{circ}C$, 60%RH. Pin-on-disk dry sliding wear tests for each experimental condition were carried out with a carbon fiber reinforced plastic pin on stainless steel disk in order to search the friction and wear characteristics. The wear rates and friction coefficients against the stainless steel counterpart were experimentally determined and the wear mechanisms were microscopically observed. The effect on friction and wear behavior are observed differently, according to various conditions. When sliding took place against counterpart, the highest wear resistance and the lowest friction coefficient were observed in the $[0]_{24s}$ lay-up orientation at anti-parallel direction.