In this study, epoxy resin (EP) composites were prepared by using molybdenum disulfide (MoS₂) and helical carbon nanotubes (H-CNTs) as the antifriction and reinforcing phases, respectively. The effects of MoS₂ and H-CNTs on the friction coefficient, wear amount, hardness, and elastic modulus of the composites were investigated. The tribological properties of the composites were tested using the UMT-3MT friction testing machine, non-contact three-dimensional surface profilometers, and nanoindenters. The analytical results showed that the friction coefficient of the composites initially decreased and then increased with the increase in the MoS₂ content. The friction coefficient was the smallest when the MoS₂ content in the EP was 6%, and the wear amount increased gradually. With the increasing content of H-CNTs, the friction coefficient of the composite material did not change significantly, although the wear amount decreased gradually. When the MoS₂ and H-CNTs contents were 6% and 4%, respectively, the composite exhibited the minimum friction coefficient and a small amount of wear. Moreover, the addition of H-CNTs significantly enhanced the hardness and elastic modulus of the composites, which could be applied as materials in high-temperature and high-pressure environments where lubricants and greases do not work.