Polyimide-bearing retainer has been successfully used in space environment. However, the structural damage of polyimide induced by space irradiation limits its wide use. In order to further improve the atomic oxygen resistance of polyimide and comprehensively investigate the tribological mechanism of polyimide composites exposed in simulate space environment, 3-amino-polyhedral oligomeric silsesquioxane (NH2-POSS) was incorporated into a polyimide molecular chain and silica (SiO2) nanoparticles were in situ added into polyimide matrix and the combined effect of vacuum environment, and atomic oxygen (AO) on the tribological performance of polyimide was studied using bearing steel as the counterpart by a ball on disk tribometer. XPS analysis demonstrated the formation of protective layer induced by AO. The wear resistance of polyimide after modification was enhanced under AO attack. FIB-TEM confirmed that the inert protective layer of Si was formed on the counterpart during the sliding process. Mechanisms behind this are discussed based on the systematic characterization of worn surfaces of the samples and the tribofilms formed on the counterbody.