High speed and sport utility vehicles with large joint articulation angle demand lower friction in automotive driveshaft joints to meet noise and vibration comfort levels. Thus a more thorough understanding of internal friction characteristics and mechanisms is required. In this paper, a friction model in automotive driveshaft joints was developed through the use of test data from an instrumented Constant Velocity (CV) joint friction apparatus with actual driveshaft assemblies. Experiments were conducted under different realistic operating conditions of oscillatory speeds, CV joint articulation angles, lubrication, and torque. The experimental data was used to develop a physics-based semi-empirical CV joint internal friction model as a function of different CV joint operating parameters. It was found that the proposed friction model captures the experimental results well. Also the friction model estimates the generated axial force (GAF) in tripod CV joints well, which is the main source of force that causes vehicle vibration problems.