Research on polymer matrix composites with excellent tribological properties has received increasing attention in recent years. In this study, antigorite and wollastonite mineral dual-phase-reinforced polytetrafluoroethylene (PTFE) matrix composites were prepared by filling PTFE with mineral powders using ball-milling, cold-pressing, and pressureless sintering methods. The phase structure, microstructure, chemical composition, Shore hardness, and tribological behavior of the composites rubbed against steel balls under dry friction conditions were investigated. The results show that the composites have a dense structure and uniform distribution of mineral phases, with a Shore hardness of 62–68.8, an increase of 18.7–23.7% compared to pure PTFE. Compared with the addition of mono antigorite or wollastonite, the composites prepared by simultaneously filling the two minerals exhibited excellent tribological properties. The average friction coefficient and wear volume of the (10Atg + 20Wl)/PTFE composites were reduced by 44.2% and 71.4%, respectively, compared to those of pure PTFE. A dense and continuous tribofilm composed mainly of SiO2, MgSiO3, Mg2SiO4, MgO, CaO, CaMg(SiO3)2, and CaF2 was formed on the worn surfaces of both the dual-phase-reinforced PTFE matrix composites and counterpart steel balls during the friction process. The reduction in friction and wear is attributed to the reinforcement effect of the minerals on the PTFE matrix as well as the complex physical and chemical reactions at the friction interface stimulated by the synergistic effects between the two minerals. The addition of wollastonite reduced the phase transition temperature of antigorite, promoting more tribochemical reaction products with good abrasion resistance and friction-reducing properties, which contributed to the excellent tribological behavior of the composites.