Epoxy resin, a thermosetting polymer has diversified tribological applications in different industrial sectors including aircraft, automobile, railways, etc. However, less resistance to wear is the major limitation in the usage of epoxy resin owing to its 3-D cross linked structure. Inclusion of reinforcements in this polymer matrix has proven successful in mitigating this major limitation associated with epoxy besides improving its mechanical and thermal attributes as well. This chapter highlights the effect of different nano-sized reinforcements such as alumina, MWCNTs, rubber, silica, diamond, h-BN, cellulose, etc. on frictional and wear aspects of epoxy composites. Pre-treatment studies on nanoparticles before adding to epoxy matrix have also been covered. Techniques for fabricating epoxy based nanocomposites are discussed as well. Furthermore, tribological characteristics of epoxy nanocomposites subjected to various process parameters such as filler content, size, morphology, and dispersion homogeneity along with sliding time, normal load, sliding speed, etc. have been highlighted. In the end, wear mechanisms and challenges observed while conducting tribological studies on epoxy nanocomposites are elucidated.