Polymer-based composites have been drawing the attention of the research community for many decades, not only in academia but also in industry. However, continuously increasing environmental concerns have led the researchers to focus on natural composite materials. This is a challenge for researchers to develop a natural composite without compromising the composites’ excellent mechanical properties and tribological performance. In this research, coir and sugarcane are selected as the natural fillers, and epoxy resin has been chosen for matrix material. To look into the crystallinity of composites, XRD analysis was done. In addition, a mechanical study was done to look at the manufactured composites’ tensile and flexural characteristics. The tribological performance (i.e., wear rate and friction coefficient) of the composite samples is investigated by using a pin-on-disc setup. The parameters such as filler loading and normal load affecting the tribological performance of epoxy-based natural composites are studied. The results show that the wear and friction characteristics of the composite reinforced with sugarcane and coir were 10.78% and 57.80% lower than those of the neat composite, respectively.