This study investigated two types of abrasion resistance of steel–fiber-reinforced concrete in hydraulic structures, friction abrasion and impact abrasion using the ASTM C1138 underwater test and the water-borne sand test, respectively. Three water-to-cementitious-material ratios (0.50, 0.36, and 0.28), two impact angles (45° and 90°), plain concrete, and steel–fiber-reinforced concrete were employed. Test results showed that the abrasive action and principal resistance varied between the two test methods. The average impact abrasion rates (IARs) of concrete were approximately 8–17 times greater than the average friction abrasion rate (FARs). In general, the impact abrasion loss of the concrete surface impacted at a vertical angle was higher than that of impacted at a 45 degree angle. Moreover, the average FAR and IAR decreased when the concrete was reinforced with steel fibers. The steel fibers acted as shields to prevent the concrete material behind the fibers from abrasion, thus improving abrasion resistance. In both the underwater and waterborne sand flow methods, the resistance to abrasion of concrete without steel fibers increased as the water/cementitious material ratio (w/cm) decreased, and the concrete compressive strength also increased.