Dry sliding wear behaviour of friction stir processed (FSP) AZ31 and AZ31/ZrC particles (5, 10, and 15 vol%) reinforced surface composite was investigated at different sliding speeds and loads. The samples were tested using a pin-on-disc apparatus with EN31 steel as the counter body to determine the role of FSP and ZrC reinforcement on the microstructure, hardness, and wear behaviour of AZ31. Base metal AZ31 alloy exhibits a hardness of 60 HV, whereas the 15 vol% ZrC-reinforced composites had the highest hardness of 108 HV. It was also identified that 15 vol% ZrC-reinforced composites exhibited lowest wear rate and friction coefficient under all testing conditions. Abrasion, delamination, oxidation, material softening, and plastic deformation are the primary wear mechanisms viewed from the wear tracks of the samples. Higher volume fraction of ZrC particles exhibited better wear resistance at all speeds and loads than AZ31 alloy. A wear map has been generated for different material compositions and wear conditions to identify the main wear mechanisms easily.