AbstractOur previous study (Polymer Composites 2023, 44: 1252–1263) revealed the positive role of rubber in modifying the tribological properties of polymer composites. This concept was applied here by incorporating synthetic Eucommia rubber (TPI) to 3D printed polyether ether ketone (PEEK) skeletons with different infill densities. The formation of TPI/PEEK composite improved the friction and wear of PEEK matrix with some reduction in mechanical performance. The composite with 70% infill density is recommended in terms of its overall performance. Based on the morphological and chemical analysis, the composite's wear mechanism was discussed. The findings of this present study could pave a new route to modify friction‐reduction and anti‐wear performance of PEEK.Highlights Novel composites were successfully prepared from thermodynamically incompatible synthetic Eucommia rubber (TPI) and polyether ether ketone (PEEK). The tribological properties of TPI/PEEK composites were studied in association with the infill density of PEEK. The TPI rubber helped improve the friction and wear properties of PEEK thanks to its role in enhancing the formation of transfer films on the counter steel surface.