Friedreich ataxia (FRDA) results in progressive impairment in gait, upper extremity coordination, and speech. Currently, these symptoms are assessed through expert examination at clinical visits. Such in-clinic assessments are time-consuming, subjective, of limited sensitivity, and provide only a limited perspective of the daily disability of patients. In this study, we recruited 39 FRDA patients and remotely monitored their physical activity and upper extremity function using a set of wearable sensors for 7 consecutive days. We compared the sensor-derived metrics of lower and upper extremity function as measured during activities of daily living with FDRA clinical measures (e.g., mFARS and FA-ADL) and biological biomarkers of disease severity (guanine-adenine-adenine (GAA) and frataxin (FXN) levels). The results showed significant correlations with moderate to high effect size between multiple sensor-derived metrics and the FRDA clinical and biological outcomes. Finally, we developed multiple machine learning-based models to predict disease severity in FRDA using demographic, biological, and sensor-derived metrics. When sensor-derived metrics were included, the model performance enhanced 1.5-fold and 2-fold in terms of coefficient of determination for predicting FRDA clinical measures and biological biomarkers of disease severity, respectively. Our results signify the potential of at-home remote monitoring in assessing disease severity and monitoring motor dysfunction in FRDA.