Bamboo fiber is one of the strongest natural fibers with high strength-to-weight and stiffness-to-weight ratios and can be used economically for manufacturing fiber-reinforced composites. In this paper, bamboo fabric-reinforced epoxy composite is manufactured and its tribological properties for load-bearing applications are investigated. Sliding wear tests are conducted using a linear reciprocating tribometer and the effect of dry and lubricated contact conditions, applied load, sliding speed, temperature, and woven fabric direction on the coefficient of friction and wear rate are investigated. A scanning electron microscope is used to define the wear mechanisms at room and elevated temperatures. It is observed that the fabric orientation influences the mechanical and tribological performances of the composite material. Wear rate increases at higher loads and working temperatures; however, the effect of sliding speed is not remarkable, especially under lubricated contact conditions. The results present in this paper can be used for designing bamboo-reinforced epoxy composites for load-bearing applications, under different working conditions.