To extend the service life of high-temperature components, lightweight refractory high-entropy alloy (LRHEA) coatings of Al 0.5Ti 2NbVZr x (x = 0, 0.5, 1, 1.5) were prepared on Ti6Al4V substrates by laser cladding. Their microstructure, phase composition, mechanical properties, and tribological behavior over a wide temperature range were systematically investigated. The results showed that the Zr addition is correlated with the suppression of needle-like BCC precipitates. A single β phase with BCC structure was obtained at x = 0.5, whereas excessive Zr content (x ≥ 1) induced the Al 2Zr precipitation. The microhardness was improved from 505.53 HV 0.3 (Zr 0) to 715.97 HV 0.3 (Zr 1.5) with Zr content elevation, while nanoindentation revealed enhanced resistance to plastic deformation, primarily attributed to solid-solution strengthening and grain refinement. Furthermore, secondary phase strengthening was evident in the Zr 1 and Zr 1.5 coatings. The Zr 0.5 coating demonstrated the best wear resistance at 25 °C, 400 °C, and 600 °C. Especially at 600 °C, the wear rate reached its lowest value of 3.04 × 10 −5 mm 3/(N·m). XPS analysis revealed that a uniform and compact oxide layer consisting of ZrO 2, Al 2O 3, and TiO 2 formed on the surface of the Zr 0.5 coating during the wear process, indicating that appropriate Zr addition enhanced its high-temperature wear resistance. This study offers valuable guidance on the design of Zr-doped LRHEA coatings for high-temperature friction applications.