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Reinforced polymers have recently gained interest because of their high stiffness associated with the classical features and cost-effectiveness of polymers. A further characteristic, suitable for several applications, is the possibility to provide high frictional and wear resistance. The frictional response of commercially available reinforced materials was here investigated in a wide range of contact boundary conditions. Experimental tests were performed on different test benches, to investigate the material frictional response under either quasistatic or fast-dynamic contact solicitations. While carbon-fiber-reinforced material exhibits a stable but low friction coefficient, the glass-fiber-reinforced material leads to the suitable combination of high friction and low wear. The PPS material, 40% (wt) glass-reinforced polymer, sliding against the Ti6Al4V titanium alloy, provided high static friction coefficients (>0.4). The same material pair was then tested in endurance under fast-dynamic contact solicitations, highlighting their resistance to wear.