In this study, tribological properties of Polytetrafluoroethylene (PTFE)/Kevlar fabric composites at different orientations under different contact pressures (p) and sliding velocities (v) were investigated. The friction surface, debris and transfer film were analyzed to reveal the tribological behavior of the fabric composite. Results indicated that different wear mechanisms at different twill orientations lead to changes in tribological properties. The fabric composite with right twill (RT) has better tribological properties under high pv values and is sensitive to the change of load. The left twill (LT) shows better properties under low pv values and is sensitive to the change of velocity. The comparison of different twill orientations has implications for the structural design of fabric composites under different application conditions.