As a mainly polymer bonded explosive (PBX) system, the tribology behavior of β-HMX crystal is mostly conducted by macro-scale experiments, where the friction characteristics come from the joint action of binder and energetic crystal. Most importantly, it is impossible to distinguish the friction contribution from binder and energetic crystal from macro-scale experiments. Experimental research on micro-friction behavior and mechanism can provide a deeper understanding of the friction of β-HMX crystal. In this study, the scratch depth and residual depth as well as coefficient of friction (COF) of β-HMX crystal under different normal loads and scratch velocities were obtained from the nanoscratch experiments, and the influences of normal load and scratch velocity on tribological behaviors were discussed.