The current research explores the possibility of reinforcing massively available, less utilised, low-cost agro-residue fibres in an epoxy matrix to create a new tribo-material. This study focuses on determining the three-body abrasive wear behaviour (volume loss and specific wear rate (SWR)) of natural cellulosic pigeon pea (PP) stalk fibre reinforced epoxy composites. Further, abrasive wear characteristics of untreated and treated E/PP20 (20 wt.% PP stalk fibre-reinforced epoxy) composites were analysed using Taguchi and ANOVA techniques. Untreated and treated biocomposite specimens were developed using the hand lay-up (open mould) technique. At 11.77 N, 23.54 N, and 47 N loads, the SWR of untreated E/PP20 composite was reduced by almost 5.03%, 3.68%, and 22.30% when compared to epoxy specimens. Results of the untreated E/PP20 composite showed that the applied load was the main contributing parameter (54.72%) followed by sliding distance (21.82%) and sliding speed (15.31%). Results of the treated E/PP20 composite showed that the applied load was the main contributing parameter (48.96%) followed by sliding speed (26.24%) and sliding distance (20.78%). The regression model predicted the SWR with a pooled error ranging from 2.37% to -17.77% for untreated composite and 9.87% to -11.49% for treated composite respectively. The alkali-treated E/PP20 composite exhibited better abrasive resistance than the untreated E/PP20 composite. Scanning electron microscopy images of the treated composites showed good fibre adhesion with the matrix. In addition, the surface of the treated composite showed no fibre pullout or ploughing compared to that of the untreated composite. Surface topography revealed the formation of more craters on the surfaces of the untreated composites and small-sized dispersed craters on the treated composites.