The water-lubricated bearing plays a crucial role in the ship propulsion system, significantly impacting vessel safety. However, under the harsh working conditions of low-speed and heavy-load, the lubrication state of water-lubricated bearings is usually poor, leading to serious friction and wear. To improve the tribological performance of composites and reduce friction, three short fibers (ultra-high-molecular-weight polyethylene fibers, basalt fibers, and bamboo fibers) with the same mass fraction (5%) were added into the melted thermoplastic polyurethane (TPU). The tribological behavior of these three composites under different loads and rotation speeds was investigated using the CBZ-1 friction and wear tester. Through the comprehensive analysis of the friction coefficient, the wear mass loss, and the surface morphology, it was confirmed that the filled fiber positively affected the tribological performance of thermoplastic polyurethane materials. The experimental results indicated that basalt fiber significantly improved the tribological performance of TPU, and the friction coefficient of the sample was only 0.088 under the working conditions of 0.5 MPa and 250 r/min, which was 70.57% lower than that of pure TPU material. And in all the tests, the minimum wear of the basalt fiber-reinforced composite is only 0.4 mg, which is also the smallest of all the materials under all conditions, and a decrease of 98.69% compared to TPU. Under high loads, ultra-high-molecular-weight polyethylene fiber and bamboo fiber-reinforced composites have smoother surfaces and exhibit better tribological properties. This study provides an experimental foundation for tribological performance enhancement for environmentally friendly, water-lubricated bearing composites.