Polytetrafluoroethylene (PTFE)-based matrix composites filled with glass fibers (GF) and graphite (GR) were prepared by an internal mixer and molded using a compression mold to produce test samples. The objective was to study the mechanical and tribological properties of PTFE composites filled with different lengths of GF. The fillers of GR and GF were 5 and 15 wt.%, respectively, with the lengths of the GF of 15, 20, 25, 30, and 35-μm in the work. The mechanical performance tests and tribological tests were carried out under the same conditions. The experimental results revealed that the mechanical properties and tribological properties of the PTFE composites filled with GF and GR were associated with the lengths of GF. When the length of GF increased from 15 to 20 μm, GF could be homogeneously dispersed in the PTFE-based matrix composites and the tensile strength reached the maximum value of 21.7 ± 3.3% MPa. Also, with 20-μm long GF, the composites exhibited the lowest coefficient of friction values and wear rates compared to PTFE with GF of the other lengths. The changes in frictional heat generation and frictional force of the composites during sliding friction were simulated using the finite element method. The theoretical simulation results matched with the experimental values, which proved the accuracy of the theoretical simulations.