In order to investigate the relationship between tribo-magnetization and wear phenomena, a series of sliding-friction tests were carried out using a pin-on-block reciprocator type device, which was specially designed to generate sliding friction and to detect magnetic fields. The tribological behavior was observed by a charge-coupled device (CCD) camera in real time, and the magnetic signal was detected by using a two-axis magnetic sensor. It was found that as the friction continues, both the tangential and the normal components of magnetic field on the material surface increase gradually, and that both the average value of the tangential magnetic field ΔH(x)mean and the peak-to-peak value of the normal magnetic field Vpp at the wear scar clearly reflect changes of the wear state. Furthermore, in order to better understand the tribo-magnetization phenomenon, the changes of surface morphology and wear debris in different wear stages were analyzed. Moreover, an improved magnetic dipole model that considered the distribution of magnetic charges on the worn surface was established. This model can successfully describe the tribo-magnetization phenomenon during the stable wear stage, and should be useful for characterizing frictional wear phenomena in the future.