Polyamide 66 (PA66) is one of the commonly used polymer gear materials. This paper focuses on the tribological properties of glass fiber reinforced PA66 composites in self-mated contact using a pin-on-disc tribometer. The effects of glass fiber content, PV (the product of the contact pressure and sliding speed), and lubrication on the tribological properties of the specimens are also investigated. The results show that the glass fiber reinforced PA66 exhibit higher coefficients of friction and specific wear rates than PA66 under dry sliding conditions. This is probably due to the peeled glass fibers during the sliding process acting as abrasive particles which have an aggressive effect on the surface. Under grease lubricated conditions, PA66 + 33% GF has the lowest coefficient of friction and specific wear rate due to its higher strength. Under dry sliding conditions, all specimens show the highest friction coefficient and specific wear rate at 30 MPa·m/s with the change of PV value. Under grease lubricated conditions, all specimens show the highest friction coefficient and specific wear rate at 4 MPa·m/s with the change of PV value. The addition of grease improves friction and wear of PA66 composites under most of the experimental conditions. However, the specific wear rates of PA66 and PA66 + 13% GF under grease lubrication are higher than those under dry sliding conditions at low PV values. This may be due to the fact that greases can reduce the surface mechanical strength of PA66 and PA66 + 13% GF. Graphical abstract