Copper-based friction material (CFM) and paper-based friction material (PFM) are the two most commonly used clutch friction materials. The friction and wear characteristics of these two kinds of friction materials under dry conditions were investigated by the pin-on-disc test over a broad range of applied loads, rotating speeds and ambient temperatures. Before experiments, the running-in test was conducted to stabilize the coefficient of friction (COF) and wear amount of the test samples. After experiments, the metallographic micrographs of the tested samples were presented to investigate the wear mechanisms. Experimental results showed that both the COF and wear depth of the CFM are much greater than these of PFM. The COF of CFM decreases with the increase of applied load, and changes slightly with the variation of rotating speed, whereas it increases first and then decreases with the increase of ambient temperature. However, the COF of PFM decreases dramatically with the increase of the rotating speed and ambient temperature, while it remains stable at first and then decreases slowly as the applied load increases. Additionally, under such three working conditions, the wear depth of CFM changes linearly, while the wear depth of PFM varies greatly. This study can be used as a guide for selecting friction materials for clutches with different applications.