Biocompatible and biodegradable nanocomposites comprising epoxidized soybean oil (ESO) as matrix, zinc oxide (ZnO) nanoparticles as reinforcements, and 4-dimethylaminopyridine (DMAP) as a catalyst have been successfully prepared via epoxidization of the double bonds of the vegetable oil, ultrasonication, and curing without the need for interfacial modifiers. Their morphology, water uptake, thermal, mechanical, barrier, tribological, and antibacterial properties have been investigated. FT-IR analysis revealed the existence of strong ESO-ZnO hydrogen-bonding interactions. The nanoparticles acted as mass transport barriers, hindering the diffusion of volatiles generated during the decomposition process and leading to higher thermal stability, and also reduced the water absorption and gas permeability of the bioresin. Significant improvements in the static and dynamic mechanical properties, such as storage and Young's moduli, tensile strength, toughness, hardness, glass transition, and heat distortion temperature, were attained on reinforcement. A small drop in the nanocomposite stiffness and strength was found after exposure to several cycles of steam sterilization or to simulated body fluid (SBF) at physiological temperature. Extraordinary reductions in the coefficient of friction and wear rate were detected under both dry and SBF conditions, confirming the potential of these nanoparticles for improving the tribological performance of ESO. The nanocomposites displayed antimicrobial action against human pathogen bacteria with and without UV illumination, which increased progressively with the ZnO content. These sustainable, ecofriendly, and low-cost biomaterials are very promising for use in biomedical applications, like structural tissue engineering scaffolds.