In this study, 3D-printed Polylactic acid (PLA) specimens were manufactured and polished using various lubricants to assess their surface, friction, and wear characteristics. After polishing, the surface roughness decreased by approximately 80% compared with that before polishing, except when acetone was used as the lubricant. In particular, under deionized (DI) water and acetone lubrication conditions, the friction coefficient decreased by 63% and 70%, respectively, whereas the specific wear rate decreased by 88% and 83%, respectively, compared with the unpolished specimens. In the case of dry polishing, adhesion, friction, and wear increase owing to surface damage. Ethanol and IPA polishing resulted in hydrolysis and increased friction, but slightly decreased wear rates. The surface of the specimen polished with acetone dissolved and became very rough. Only the surface polished with DI water exhibited hydrophobic properties. When acetone and DI water were used as lubricants, the surface adhesion force, adhesion energy, friction coefficient, and wear rate were lowest. The finite element analysis results showed that the polished surface exhibited stable contact pressure and friction force, while the unpolished surface showed large fluctuations in contact pressure and friction force owing to the laminated pattern. These results suggest that the polishing process is crucial for improving the surface characteristics and mechanical performance of 3D-printed PLA parts.