The present work studied the water absorption behavior of polymeric composite materials fabricated using 3D printing technology, as well as its effect on their tribological properties. The results showed that the moisture absorption would impair the mechanical properties of polymer matrix and interface bonding between fiber and matrix. As a result, the tensile strength of the fiber reinforced polymer composites (FRPCs) decreases with water absorption. Nevertheless, the effects of moisture absorption on the wear properties of FRPCs are more complicated, which are depending on the fiber length and sliding conditions. With the short fiber reinforcements, moisture absorption deteriorated the wear resistance under all the testing conditions. With the increase of moisture level, more severe fiber damage/removal was observed, associated with the higher wear loss. With a relative high volume fracture of continuous carbon fiber (∼ 35 vol.%), however, the wear resistance of the FRPC increased with moisture level, especially under a relatively low load. Based on microscopic observations, it was proposed that water inside FRPC specimens is able to provide the lubricating and cleaning effects, which contribute to a lower friction and smooth worn surfaces. The work provides new insights into designing and selecting printed polymer materials, subjected to different loading conditions.