Wear is one of the main failure causes of hydraulic seals. Wear will lead to degradation in the mechanical properties and sealing properties of seals. Compared with hydraulic seals with one-way rotational motion, the hydraulic reciprocating rotary seals work in more complex operating conditions, so their wear mechanism becomes more complicated. Aimed at exploring the friction and wear law of hydraulic reciprocating rotary seals and the property evolution law during the wear process, this paper set up an experimental system to simulate the working conditions of the hydraulic reciprocating rotary seals. The friction characteristics were obtained under different working pressures and different motion parameters. The wear characteristics were obtained under rated working conditions. The surface morphology was observed by SEM and the wear mechanism was analyzed.