A high-performance aromatic thermosetting copolyester containing multi-walled carbon nanotubes (ATSP-MWNTs) was synthesized, characterized, and tribologically tested against cobalt-chromium-molybdenum (CoCrMo) alloy) as a potential replacement for ultra-high molecular weight polyethylene (UHMWPE) in artificial joints. By investigating the tribological properties of ATSP-MWNTs, crosslinked UHMWPE vs CoCrMo alloy, it was found that ATSP-MWNTs exhibited a lower and more stable friction coefficient and negligible wear. Unlike the case of ATSP-MWNTs, an obvious wear was present for UHMWPE. It is believed that transfer films in ATSP-MWNTs help to stabilize and decrease friction and wear. In addition, large and aggregated particles of UHMWPE seem to contribute to an increase in friction and wear.