In this study, the tribological characteristics of TiN, AlTiN, and AlTiCrN coatings sliding against a SUS420J1 stainless steel pin were investigated in atmospheric and vacuum environments. The coatings were deposited on SUS440C substrates using the arc-physical vapor deposition technique. The friction and wear behavior of the coatings were evaluated based on the systematic analyses of the friction coefficient data as well as the physical and chemical state of the wear track. The results revealed that the friction coefficients of the SUS440C specimen and AlTiCrN coatings increased, whereas those of the TiN and AlTiN coatings decreased when the environment was changed from atmospheric to vacuum. It was confirmed that the formation of an oxide layer and adsorption of oxides on the surface were dominant factors that influenced the tribological behavior in the atmospheric environment. On the other hand, the compatibility, oxidation inhibition, and droplets of the surface mainly affected the frictional characteristics in the vacuum environment. The results of this work are expected to aid in the selection of proper coating materials for tribological systems operating in a vacuum.