Nowadays, is expected that for most materials to be environmentally friendly. Besides, waste from end-of-life products may be considered a secondary source of materials with an energetic advantage due to its high energy content. This paper deals with the study of friction and wear characteristics of Glass fibre-reinforced polymer (GFRP) composites with polyester/glass fiber (P/GF) waste as filler, replacing the widely used calcium carbonate (CaCO 3 ). Polyester composites based on two or three components, using a combination of polyester, CaCO 3 , GF, and GF waste, were produced. Pin-ondisc sliding wear test was performed using a polished stainless steel counterface. Roughness, surface energy, and hardness of the composites were characterized before the tests. The GF content (15, 25, 35, and 50 wt.%), the sliding velocity (0.021 and 0.042 m/s), and the normal load (1, 5, and 10 N) were varied. Based on the experimental results, it was observed that the friction coefficient and wear rate were influenced by material composition, surface roughness and energy, adhesive, and abrasive contact mechanisms. P/GF composites having P/GF waste presented enhanced performance considering friction and wear in relation to those with CaCO 3 in their composition.