The friction and wear properties of Mg2B2O5 whisker reinforced 6061Al matrix composite fabricated via power ultrasonic-stir casting process were investigated using a ball-on-disk wear-testing machine against a GCr45 steel counterface under dry sliding conditions. The reinforcements include as-received Mg2B2O5 whiskers and Mg2B2O5 whiskers coated with CuO and ZnO. The volume fraction of the composites is 2%. The relationship between the wear rate and the coefficient of friction was discussed. The results indicate that the wear rate of the Mg2B2O5 whiskers coated with ZnO reinforced aluminum matrix composites is the lowest among the materials. As the applied load and sliding speed steadily increase the coefficients of friction and wear rates of the as-received matrix alloy and the fabricated composites decrease. As the applied load and sliding speed increase, the wear mechanisms of the composites shift from a mild to a severe regime.