In the present work, a hierarchical braided polymer composite consists of Polytetrafluoroethylene (PTFE) fibers, reinforcement fibers, and epoxy resin was designed as a self-lubricant composite and bearing. Different reinforcements such as glass, carbon, and Kevlar fibers were employed to investigate the effect of reinforcement on the wear characteristics of composites. Besides, the influence of 2D/3D braid fabric was examined on the wear behavior of samples. Also, 90 and 120 N loads were applied to assess the load impact. Results illustrated that compared to glass and Kevlar, carbon could lead to a greater wear weight loss and friction coefficient. However, PTFE tribofilm was observed according to scanning electron microscopy (SEM)/energy-dispersive X-ray spectroscopy (EDS) analysis. Moreover, with the increase of load, the wear stability of the composites faded significantly. Furthermore, the tribological features became inappropriate with the deployment of the 3D braid structure. Finally, the modeling of tribological parameters was carried out using response surface methodology-based D-optimal design. The adequacy of the models was checked by analysis of variance. Results implied that there is an excellent correlation between the model and the experiments.