The work aims to study the effects of solid lubricant on friction and wear properties of polyamide imide (PAI) coatings. Self-lubricating PAI coatings were prepared by synthesizing trimellitic anhydride (TMA) and 4,4-diphenylmethane diisocyanate (MDI), and adding molybdenum disulfide, tungsten disulfide and graphite. Wear test was performed to the coatings with HSR-2M high-speed reciprocating friction testing machine. Friction properties of the self-lubricating PAI coatings were characterized by means of ATR-FTIR, TA-TG thermogravimetry and wear scar morphology. The effects of types and content of solid lubricant on friction properties of the PAI coatings were investigated. Friction coefficient of the PAI coatings tended to decrease as load increased. When the MoS2 content was 30%, the friction coefficient of PAI coatings was only 0.1744. After the solid lubricant was added, the smaller the frictional coefficient of PAI coatings was, the narrower and shallower the wear scar was, and surface roughness was relatively low. The lubricant exhibits the best friction properties provided with 30% MoS2, followed by 10% graphite, and 10% WS2. Using PAI coatings containing solid lubricant can significantly enhance friction and wear properties of the coatings and extend service life.