To improve the friction and wear resistance of the resin-based friction material and the counterpart brake disc. In this paper, a friction material premixing device combined with a plow rake mixer are used to uniformly disperse graphene oxide (GO) into the phenolic resin-based brake friction material. The physical and mechanical properties of the material are tested. The friction and wear resistance are studied by using a LINK 2900 inertia dyno test machine, and the micro-morphology and composition analysis of the friction interface are performed by using SEM and EDS. The results show that increasing the GO volume fraction from 0 to 1.00% significantly increases the specific heat capacity of the friction material, the thermal conductivity of the friction interface in the tangential and the shear modulus, and reduces the elastic modulus of the friction material. The optimal volume fraction of GO is determined to be 0.75%, and the nominal friction coefficient and the first fade coefficient reached 0.437 and 0.363 respectively. The wear resistance of the friction material and the counterpart brake disc are the best. Compared with the formula without added GO, the wear of the friction material is reduced by 13.70%, and the wear of the counterpart brake disc is reduced by 12.32%. The appropriate volume fraction of GO improves the thermal structural stability of the matrix resin and improves heat resistance and coefficient stability. Material transfer occurs on the surface of the friction material and the brake disc of the dual component to form a friction layer, which effectively improves the surface cracks of the friction material and the disk surface holes. GO changes the heat flow distribution between the disc and the pad, and changes the ratio of vertical conduction heat dissipation and tangential convection heat dissipation, which can effectively improve the friction and wear resistance of friction materials and counterparts.