The friction and wear behaviors of titanium micro-arc oxidation coatings under different friction conditions were studied to provide reference for the rational application of these coatings in the industrial field. Firstly, titanium micro-arc oxidation coatings were prepared in aluminate electrolyte in constant voltage mode, and then the tribological properties of micro-arc oxidation coatings were tested under four different friction conditions (dry friction with GCr15 grinding ball, dry friction with Al2O3 grinding ball, oil lubrication with GCr15 grinding ball and oil lubrication with Al2O3 grinding ball). The phase composition of the coatings was analyzed by XRD and the surface morphology and element distribution of the wear scars under different friction conditions were analyzed by SEM and EDS. The friction coefficient and wear rate of the coatings were measured and the wear pattern and mechanism of the coatings were discussed based on different working conditions. Under the working condition of dry friction with GCr15 grinding ball, the abrasive wear of the coating was dominant with the wear rate of 1.4×10–5 mm3/(N.m). Under the working condition of dry friction with Al2O3 grinding ball, the coating failed rapidly. Under the working condition of oil lubrication with GCr15 grinding ball, the coating experienced minor fatigue wear and spalling, and the wear rate was 5.3×10–6 mm3/(N.m). Under the working condition of oil lubrication with Al2O3 grinding ball, the fatigue wear of the coating became relatively serious, and the wear rate was 1.5×10–5 mm3/(N.m). The titanium micro-arc oxidation coatings show good wear resistance under both dry friction and oil lubrication conditions when the counter pair material is metal with low hardness, but the dry friction condition is easy to cause the severe wear of counter pair material. In contrast, the wear resistance of titanium micro-arc oxidation coatings is poor under dry friction condition when the counter pair material is ceramic with high hardness. Lubricating oil can be used to reduce the friction coefficient and wear rate of the coatings significantly under this condition.