In recent years, much work related to the performance of AlSi10Mg manufactured by selective laser melting (SLM) has been extensively researched. However, the study of tribological performance caused by different laser energy densities is still insufficient. This work concentrates on the relationship between the wear resistance and laser energy density of AlSi10Mg processed using SLM. Moreover, XRD characterization, density, surface roughness and microhardness were also examined since they are closely related to wear resistance. The results revealed that the XRD pattern of AlSi10Mg was mainly composed of the α-Al and Si phases under the conditions of different laser energy densities. In addition, the peak of Mg2Si was also detected. Also, the grain size increased with the increasing of laser energy density. The increase in laser energy density led to an increase in the convection and porous phenomenon in the molten pool. However, when the value was lower, the overlapping area reduced, and the strength between adjacent melting paths was insufficient, resulting in the declination of the sample property. According to the experimental results, a laser energy density of 63.33 J/mm3 was considered to be a relative optimal condition. The relative density, Ra, microhardness and wear volume were 99.2%, 8.86 μm, 128.3 HV0.2 and 2.96 × 10−2 mm3, respectively. The worn surface morphology also confirmed the influence of laser energy density on wear resistance. A regression model was established and analyzed, which showed the reliability of the results. Furthermore, the tribological mechanism was also revealed.