Poor fabric/matrix interfacial adhesion and inferior thermal properties of polymer matrix severely hinder the continued development of hybrid Nomex/PTFE fabric-reinforced polymer composites for advanced tribological applications. Graphene oxide (GO) grafted on fibers has been widely used to reinforce polymer composites and improves the fiber/matrix interface. This study focuses on the tribological and adhesion properties of GO-grafted hybrid-fabric composites. Hybrid Nomex/PTFE fabric-GO multiscale reinforcement was prepared by a novel technique where a hydrothermal carbonization functional primer coating was initially applied on hybrid-fabric followed by chemically attaching GO. The microstructure and chemical composition of modified hybrid-fabrics were comprehensively investigated by SEM, FTIR, and XPS. Results indicated an obvious increase in surface functional groups and wettability. Tensile and peeling testing results showed that the GO-grafted hybrid-fabric composites exhibited 27.3 and 73.6% enhancement in tensile and interfacial bonding strength, compared to that of pristine hybrid-fabric composites. Furthermore, GO modification forming a percolating network on hybrid-fabric within the polymer matrix effectively promoted the thermal stability and heat conductivity of hybrid-fabric composites. Wear tests also showed the anti-wear performance of the modified hybrid-fabric composites was enhanced obviously due to improved interfacial bonding and thermal properties.