The friction and wear properties of carbon fiber reinforced copper matrix composite in dry sliding against AISI-1045 steel was evaluated by a block-on-ring test machine. It was shown that the low frictional factor and wear rate of the composite block could be maintained when pressure or velocity was below a certain value. But when the pressure or velocity exceeded the critical value, the friction factor and wear rate tended to increase rapidly with pressure and sliding velocity. The morphologies, elemental compositions, and surface profile of worn composite surfaces at different wear stages were analyzed by means of scanning electron microscopy, energy dispersive spectrometry, and profile-meter. It was found that low values of friction and wear were due to a thin solid film forming on the surface of the composite block which includes carbon and copper at a mild wear stage. The film could impede adhesion and provide some degree of self-lubrication. When the film included more metal elements and were damaged, severe wear happened, and the wear rate increased sharply. As a result, a transition diagram in friction and wear was constructed, which provided pressure and velocity conditions of change from mild wear and low friction to severe wear and high friction for the wear-resisting design.