The processing, mechanical and tribological properties of wax containing thermoplastic polyurethane–filler composites were studied for different weight ratios of graphite, TiO2, MoS2, and ZrO2 microparticles and SiO2 nanoparticles. The composites were compounded by extrusion and processed by compression molding. The rheological, thermal, and mechanical properties were measured, and the wear characteristics were tested with ball-on-plate reciprocating tribometer tests under fixed friction conditions and then observed by scanning electron microscopy. Correlations between the friction, wear, and mechanical properties were observed, and their mechanisms are discussed. © 2012 Wiley Periodicals, Inc. J Appl Polym Sci, 2012