High-performance polymer friction materials with tunable tribological behavior to fit varied work conditions remain a challenge of widespread interest for a variety of applications. Shape memory polymer exhibits morphing and modulus changing over temperature changing provides a promising material to adjust the friction process. Herein, we investigated the tribological properties of shape memory cyanate ester (SMCE) under different conditions. The SMCE exhibits the tribological behavior of good friction material with stable high coefficient of friction (COF) and a low wear rate. Besides, the COF increases and wear rate decreases with the temperature increasing show the tunable friction property of the SMCE. We propose a new model of wear-compensation through shape recovery to explain the adjustable friction behavior of thermal-responsive polymer from the aspect of shape recovery and energy conversion. This study provides a high-performance friction material and paves the route for the application of shape memory polymer (SMP) in tribology field with tunable property.