Despite wide applications in mechanical transmission components, sparked with extraordinary wear resistance, polymeric composites face the challenges of reinforcement agglomeration. In this work, deformation-driven processing was proposed to prepare carbon nanotube (CNTs)-reinforced poly-ether-ether-ketone (PEEK) matrix composites with enhancement in wear resistance. Severe plastic deformation contributed to the homogeneous dispersion of the reinforcements without undesirable agglomeration. Low frictional heat input ensured the structural integrity of CNTs. The coefficient of friction and wear rate of 3.0 wt.% CNTs/PEEK were, respectively, 7.32% and 6.71% lower than those of pure PEEK. This strategy provides a high-efficiency approach to preparing high wear-resistance polymeric composites, attributed to its self-heating, low-cost, and high-performance characteristics.