In this work, a glass fiber reinforced polytetrafluoroethylene (PTFE)-based friction material with good properties for ultrasonic motor was fabricated. The effects of temperature and vacuum degree on the tribological behavior of the PTFE-based friction material were investigated; the evolutions of friction-wear modes and mechanisms were also discussed as function of temperature and vacuum degree. The results show that the delamination and fatigue wear are predominant under the effects of repeated shearing and dynamic contact under atmospheric environment. While wear mechanisms change from adhesive to abrasive and fatigue wear as it is cooled from 30 to -60 ℃ at vacuum environment. Under high vacuum, adhesive wear was prone to taking place at room temperature for high frictional heat which increased the wear rate and extended the running-in period. Experiment shows that the highest no-load speed, output power, and holding torque of ultrasonic motor at room temperature under atmospheric environment are 220 rpm, 9.9 W, and 1.21 Nm, respectively.