Self-lubricant composite is a flourish scope of technology that merits academic and industry attention, as it is a specific part which essentially employed in acute operation conditions. In the present study, the mechanical properties of the self-lubricating composite of two-dimensional (2D) and three-dimensional (3D) braid were investigated. The composites contained Polytetrafluoroethylene (PTFE) fibers as a lubricant and glass, carbon, and Kevlar as a reinforcement, hierarchically incorporated into the structure. In order to study the composite behavior as well as to determine the modulus and hardness of the sample, an indentation test, which is very similar in loading to abrasion tests, was applied. A microband test was also conducted to assess the adhesion between the resin and the PTFE fiber. Shear punch tests were performed to evaluate the total shear strength and impact test to estimate energy absorption and impact strength. The results showed that PTFE/epoxy matrix has poor adhesion. Composites with higher PTFE volume fraction had good energy absorption and, at the same time, low shear strength. The higher modulus of carbon composites was concerned.