The biodegradability and comparatively less harmful degradation of polylectic acid (PLA) make it an appealing material in many applications. The composite material is used as a feed for a 3D printer, consisting of PLA as a matrix and graphene (3 wt.%) as reinforcement. The composite is extruded in the form of wires using a screw-type extruder machine. Thus, prepared wire is used to 3D print the specimens using fused deposition modeling (FDM) type additive manufacturing technology. The specimens are prepared by varying the different process parameters of the FDM machine. This study’s primary objective is to understand the tribological phenomena and surface roughness of PLA reinforced with graphene. Initially, pilot experiments are conducted to screen essential factors of the FDM machine and decide the levels that affect the response variables, such as surface roughness and wear. The three factors, viz., layer height, printing temperature, and printing speed, are considered. Further experiments and analysis are conducted using the Box–Beheken method to study the tribological behavior of 3D-printed composites and the effect of these parameters on surface roughness and wear loss. It is interesting to note that layer height is significant for surface roughness and wear loss. The optimum setting for minimum surface roughness is layer height at 0.16 mm, printing temperature at 180 °C, and printing speed at 60 mm/s. The optimum setting for minimum wear loss is layer height at 0.24 mm, printing temperature at 220 °C, and printing speed at 90 mm/s. The desirability function approach is used to optimize (multiobjective optimization) both surface roughness and wear loss. The layer height of 0.16 mm, printing temperature of 208 °C, and printing speed of 90 mm/s are the optimum levels for a lower surface roughness and wear loss. The SEM images reveal various wear mechanisms, viz., abrasive grooves, micro-fractures, and the presence of wear debris. The work carried out helps to make automobile door panels since they undergo wear due to excessive friction, aging, material degradation, and temperature fluctuations. These are taken care of by graphene addition in PLA with an optimized printing process, and a good surface finish helps with proper assembly.