Tribological and mechanical properties of aramid fiber (AF), graphite (Gr), and hexagonal boron nitride (h-BN) hybrid polyimide composites were investigated under room and high temperature. Results show that, Gr in composite reinforced with AF and h-BN can reduce coefficient of friction (COF) and improve antiwear property of composites under room temperature. Gr can accelerate the formation of transfer film under high temperature without sacrificing the wear resistant of composites. Transfer film of composites reinforced with Gr and h-BN simultaneously present more smooth and uniform compared with that of composites reinforced with only AF and h-BN. However, under higher temperature, composite reinforced with pure Gr present higher COFs and wear rates (WRs) compared with composites filled with h-BN and Gr simultaneously. Comprehensively, composite filled with 10% AF, 3% h-BN, and 4% Gr is the optimum composition.