Resin-based friction materials (RBFMs) strengthened by polyether ether ketone (PEEK) fiber were designed and prepared in this study. Specimens incorporating PEEK fiber of 2–8 wt.% were fabricated based on wet granulation, and then the effects of the PEEK fiber content on the mechanical and tribological properties of RBFMs were systematically investigated. The results showed that PEEK fiber can sense the braking temperature and then effectively regulate the comprehensive properties of RBFMs. The specimen incorporating 6 wt.% PEEK fiber obtained the optimal comprehensive performance with a stable friction coefficient (COF), excellent fade resistance and recovery properties, and better wear resistance. The worn surface was inspected using a scanning electron microscope. After the friction–wear test, the specimen with 6 wt.% PEEK fiber presented a number of primary and secondary plateaus and a reduced number of pits with wear debris on the worn surface. The study indicated that PEEK fiber could not only enhance the mechanical and tribological properties of RBFMs at low temperatures because of their high strength and self-lubrication but also adhere to wear debris to reduce abrasive wear at high temperatures; furthermore, the adhered wear debris could form a secondary plateau under normal pressure, which could alleviate abrasion.