This study investigates the tribological performance of epoxy (EP) composites reinforced with short glass fibers (SGF), graphite, PTFE, and B4C nanoparticles, using oil lubrication. The results demonstrate that the addition of SGF significantly reduces wear and friction in the EP matrix. In contrast, the incorporation of B4C nanoparticles and other solid lubricants does not have a significant effect on friction and wear. The remarkable tribological properties observed in the SGF-reinforced EP composites can be attributed to the superior bearing capabilities and wear durability of SGF. These fibers effectively withstand the load and exhibit excellent durability during sliding, resulting in reduced wear and friction. To further understand the underlying mechanism, a comprehensive evaluation of the nanostructure of the tribofilm was conducted. The formed tribofilm acts as a protective layer during sliding, preventing direct contact between the sliding pairs and reducing the occurrence of boundary and mixed lubrication conditions. This protective film significantly impacts the performance of the tribological system. By preventing direct rubbing, the tribofilm minimizes wear and friction, thereby enhancing the tribological properties of the SGF-reinforced EP composites.