TNZS, TiO2/TNZS, HA/TNZS titanium-based biomedical materials were prepared by powder Metallurgy comebining high-energy ball milling, conventional vacuum and non-pressure sintering. The tribological properties and microhardness of the three sintering bodies were investigated. The results show that under the condition of room temperature, load of 100 g, frequency of 10 HZ, dry friction and Si3N4 ceramic ball for 15 min, HA/TNZS titanium-based biomedical material has low friction coefficient and the best wear resistance; friction coefficients are 0.4323, 0.5643 and 0.4338, and the average width of wear scars are 0.33 mm, 0.26 mm and 0.18 mm, respectively ; wear mechanism of all is abrasive wear, supplemented with oxidation wear and adhesive wear; the average friction coefficients and wear of all materials under artificial body fluid are better than those under dry friction , and wear resistence of HA/TNZS is better than the other two; the average friction coefficient of all are 0.3309, 0.4301 and 0.3840, and the average width of wear scars are 0.27 mm,0.19 mm and 0.17 mm, respectively; wear mechanism are abrasive wear, accompanied by mild oxidation wear and adhesive wear；TiO2/TNZS has the highest microhardness value, and the microhardness values of the three are 525.43 HV, 551.23 HV and 479.27 HV.