In this study, we investigated the influence of the gamma-irradiation dose and the addition of the cross-linking agent (triallyl isocyanurate (TAIC)) on the thermal, mechanical and tribological properties of plant-derived polyamide 1010 (PA1010). PA1010 and PA1010/TAIC were extruded using a twin screw extruder and injection molded. These specimens were then irradiated with gamma-ray in air with doses of 20 and 50 kGy. After gamma-irradiation, the specimens were heat-treated to remove the free radicals generated in the polymer. The combination of gamma-irradiation and the addition of TAIC significantly changed the crystal structures of PA1010. Glass transition temperature increased with the addition of TAIC and, in particular, with increasing gamma-irradiation dose. Moreover, PA1010/TAIC showed a rubbery plateau originating from cross-links by gamma-irradiation, which was observed in the temperature regions above the melting point in DMA measurements. Mechanical properties such as strength, modulus and hardness, and tribological properties such as frictional coefficient, specific wear rate and limiting pv (pressure p × velocity v) value of PA1010 improved with change in the internal microstructure with the gamma-irradiation and addition of TAIC.