We consider a mathematical model which describes a dynamic frictional contact problem for thermo-viscoelastic materials with long memory and damage. The contact is modeled by the normal compliance condition and wear between surfaces are taken into account. We establish a variational formulation for the model and prove the existence and uniqueness of the weak solution. The proof is based on arguments of hyperbolic nonlinear differential equations, parabolic variational inequalities and Banach fixed point.