The characteristics of abrasive wear on sliding speed of glass fiber reinforcement (GF/PUR) composites were investigated at ambient temperature by pin-on-disc friction test. The cumulative wear volume, friction coefficient and surface roughness of these materials on sliding speed were determined experimentally. The major failure mechanisms were lapping layers, deformation of resin, ploughing, delamination, and cracking by scanning electric microscopy (SEM) photograph of the tested surface. As increasing the sliding speed the GF/PUR composites indicated higher friction coefficient. The surface roughness of the GF/PUR composites was increased as the sliding speed was higher in wear test.