The coefficient of friction (COF) of a novel bionic trabecular structure that was manufactured through 3D printing with Ti-6Al-4V power was investigated. Cortical and spongy bones were used as counterparts. The contact angle results show that the bionic structure has better surface wettability than the homogeneous structure at the early-stage. However, the two structures have highly hydrophilic surface. For homogeneous trabeculae, the average values of COF range from 0.71 to 0.82, which are significantly lower than the values of 0.82~0.99 for the bionic trabeculae. The static COF values range from 1.52 to 1.96 for the bionic trabeculae and 0.99 to 1.26 for the homogeneous trabeculae. The maximum static COF value of 1.96 is acquired at 10 N for the cortical bone against the bionic trabeculae. The results indicate that the bionic trabecular structure has a higher COF than the homogeneous trabeculae and other components. Hence, the novel bionic trabecular structure can provide sufficient friction at the bone-implant interface, thus achieving primary stability.