This research examines the friction and dry wear behaviours of glass fibre-reinforced epoxy (GFRE) and glass fibre-reinforced polyester (GFRP) composites. Three fibre orientations—parallel orientation (P–O), anti-parallel orientation (AP–O), and normal orientation (N–O)—and various sliding distances from 0–15 km were examined. The experiments were carried out using a block-on-ring configuration at room temperature, an applied load of 30 N, and a sliding velocity of 2.8 m/s. During the sliding, interface temperatures and frictional forces were captured and recorded. Worn surfaces were examined using scanning electron microscopy to identify the damage. The highest wear rates for GFRE composites occurred in those with AP–O fibres, while the highest wear rates for GFRP composites occurred in those with P–O fibres. At longer sliding distances, composites with P–O and N–O fibres had the lowest wear rates. The highest friction coefficient was observed for composites with N–O and P–O fibres at higher sliding speeds. The lowest friction coefficient value (0.25) was for composites with AP–O fibres. GFRP composites with P–O fibres had a higher wear rate than those with N–O fibres at the maximum speed.