The functional group in the molecular chain of lubricants is a key factor for a boundary lubricating film, which can further enhance the friction performance by interfacial tribochemistry. In this paper, the tribological behavior of epoxy/graphene (EP/Gra) composites was investigated through varying lubrication conditions, including dry friction, or different lubricants (such as water, hexadecane, oleylamine, and oleic acid). The porosity and Shore hardness (SHD) of the EP composites were significantly improved by the addition of graphene. Results showed that the porosity of the EP/0.75 wt.% Gra composites was reduced by 75.6% and their SHD increased by 5.4 compared with the EP/0.05 wt.% Gra composites. The average coefficient of friction (COF) of the composites was reduced by at least 27.3% under dry friction conditions. For water as lubricant, the EP/0.5 wt.% Gra composite exhibited the lowest COF (0.0455). The EP/0.75 wt.% Gra composite displayed the lowest COF (0.0466) when hexadecane acted as lubricant. By contrast, EP/0.05 wt.% Gra showed the lowest COF (0.0389) with oleylamine as lubricant, and the EP/0.25 wt.% Gra composites gave the lowest COF (0.0433) under oleic acid. The amine group of oleylamine reacted with the EP group to form a hydroxyl group, resulting in a polymer with low friction adhered to the friction interface. Simultaneously, the EP group reacted with the carboxyl group, forming a network of hydrogen bonds with graphene, which reduced the shear stress on the friction interface. Therefore, the functional groups of lubricants have a vital influence on the tribological properties of frictional composites, which may provide a new approach to solving the problem of wear.