A theoretical tyre model was developed analytically using the proposed middle plane for predicting the three-dimensional global tyre wear qualitatively and quantitatively as a function of the road roughness and the dynamic characteristics of the vehicle. Diagrams of the tyre wear pattern across the tyre width and along the tyre circumference were drawn for different road roughnesses, camber angles and vehicle dynamic characteristics. The numerical results show how the three-dimensional tyre wear pattern varied when these factors changed. Numerical calculations also reveal that a unique wear pattern may be caused by the system’s inherent dynamic features, e.g. the modal shape. In addition, a sensitivity analysis shows that the slip ratio, the longitudinal stiffness, the tyre width, the velocity and the vertical force have the greatest effects on the frictional dissipation energy, in that order. With the established wear model, good tyre wear distribution predictions can be given qualitatively and quantitatively for the rolling surface of the tyre. Moreover, guidelines for obtaining less tyre wear are provided for tyre and car manufacturers.