This article presents the mechanical, physical, and tribological properties of the boron carbide (B4C) reinforced epoxy matrix composites (BEMCs). The BEMC samples were prepared with various B4C concentration of 0%, 1%, 2%, 3%, and 5%. B4C particles were treated with a silane coupling agent to ensure efficient adhesion with epoxy. The influence of a range of parameters (particle loading, sliding speed, sliding distance, and normal load) on the wear and friction behavior of BEMCs were evaluated by conducting wear tests under dry sliding conditions on a pin-on-disc wear test set-up. The addition of B4C to the epoxy polymer improved the wear resistance of the composites. Maximum wear resistance and coefficient of friction were observed for the composite with the highest percentage of B4C (5%). The specific wear rate was reduced on increasing load and sliding distance and increased with the sliding velocity. Mechanical properties including compression strength, flexural strength, and impact energy, along with physical properties such as density and hardness, were also evaluated. B4C particles improved the hardness, density, flexural and compression strength, and impact resistance of the composites. Scanning electron microscope (SEM) analysis of the worn-out surfaces and flexural fractured surfaces was carried out to predict the possible wear and fracture mechanisms. Micro-ploughing, abrasion, and adhesion were the wear mechanisms in BEMCs. Under the flexural loads, particulate de-bonding, pull-out, and brittle fracture of the matrix were the governing failure mechanisms.