The effect of load and sliding speed on abrasive wear characteristics of glass fiber/polyurethane (GF/PUR) composites were investigated at ambient temperature by pin-on-disc friction test. The friction coefficient, cumulative wear volume and surface roughness of these materials against SiC abrasive paper were determined experimentally. Experimental results showed that the surface roughness of the GF/PUR composites was increased as applied load was higher in wear test. The cumulative wear volume tended to increase nonlinearly with increase of sliding distance and depended on applied load and sliding speed for these composites. It could be verified by scanning electric microscopy (SEM) photograph of surface tested that major failure mechanisms were lapping layers, ploughing, delamination, deformation of resin and cracking.