<p>Aluminum alloy has attracted wide attention due to its light weight and excellent specific strength. However, its low hardness and wear resistance limit its application in high-stress friction environments. In-situ reinforced particles exhibit clean interfaces, strong matrix bonding, and uniform dispersion, significantly enhancing the matrix’s hardness and wear resistance. In this study, (ZrB₂ + Al₂O₃) binary ceramic particles reinforced 6016Al composites were in-situ synthesized using an Al-Al(OH)₃-K₂ZrF₆-KBF₄ in-situ reaction system, which greatly improved the hardness, friction, and wear properties of the 6016Al alloy. The wear surface was characterized by SEM and XPS analysis, and the mechanism of reinforcing particles to improve the friction and wear properties of composites was studied. The influence and contribution of tribological parameters (time, load, speed) on the composite’s wear performance were systematically evaluated using gray relational analysis, Taguchi method, and analysis of variance (ANOVA). The results show that after adding the binary ceramic particles, the Vickers hardness of the composite is 63% higher than that of the 6016 Al alloy, reaching 99.48 HV. The friction coefficient of the composites is lower than that of 6016 Al alloy, and the wear rate is 38.5% lower than that of 6016 Al alloy. The results of the strengthening mechanism show that the composites are mainly abrasive wear and oxidation wear. The (ZrB₂ + Al₂O₃) binary ceramic particles reduce the adhesive wear in the initial friction stage, enhance the oxidation wear in the steady-state friction stage, and avoid the delamination wear in the terminal friction stage. The results of statistical analysis show that the order of the influence of friction parameters on the wear performance of composites is rotational friction velocity &gt; time &gt; load, and the contribution rates are 80.95%, 11.78%, and 3.04%, respectively.</p>