Typically, the skid resistance of pavement surfaces is used to indicate road safety levels. The initial value and long-term behavior of skid resistance can be reportedly determined by modulating asphalt mixture properties during their mix design process. In this study, a skid-resistance prediction equation for recycled asphalt concrete was formulated based on ANOVA test results. An accelerated polishing device was used to replicate the abrasion encountered by road surfaces owing to vehicle–tire interactions for characterizing the skid resistance of recycled asphalt concrete. Notably, key parameters, including initial and terminal values and reduction rate of skid resistance induced by vehicle-related abrasion, were determined. These findings suggest that the initial values and reduction rate of skid resistance can be estimated from the mixed binder properties and initial MTD value. However, the final/terminal skid resistance predicted using aggregate gradations has a limited degree of confidence. To further improve the accuracy of the prediction equation, additional data collection and validation tests are required. In addition, field tests using recycled asphalt concrete are necessary to refine the accuracy and precision of the prediction equations for practical road construction scenarios. This study represents a significant step toward the development of safe and effective road infrastructure.