This study investigated the stick-slip characteristics of a magneto-rheological elastomer (MRE) against an aluminum plate. Herein, the MRE was manufactured, and a stick-slip tester was employed to evaluate the stick-slip performance of the MRE under different velocities and load conditions with and without a magnetic field. The fast Fourier transform (FFT) of the friction force of the stick-slip and the roughness of the aluminum plate surface were calculated to confirm the stick-slip phenomenon. After the tests, the wear surfaces were observed to evaluate the wear properties of the MRE regarding the stick-slip. Results showed that the stick-slip was smaller at lower velocity. At higher velocity, the reduction of the stick-slip under a magnetic field was more clearly observed. Moreover, the wear reduced with reduced stick-slip under a magnetic field.