Torsional fretting behavior of TC4 titanium alloy has been investigated at different fretting parameters to explore the fretting wear resistance and wear mechanisms of titanium alloy. The fretting loops, dissipated friction energy and friction torque under different normal load (100N and 200N), angular displacement (±0.5° and ±2°) and frequency (10Hz and 15Hz) were studied to reveal the mechanical behavior during fretting. Results showed that normal load made difference in friction torque while angular displacement was the most important factor in dissipated friction energy. And fretting ran in gross slip regime under the above fretting parameters. Surface morphology of fretting scars was characterized by optical microscopy and scanning electron microscopy. The shape of fretting scars was hourglass, appearing narrow and shallow in the middle, wide and deep on both sides. The section profiles of the fretting scars were shape of “V”. Besides, wear depth and wear volume increased under larger normal load and angular displacement. SEM images depicted that adhesive wear, delamination and fatigue occurred during fretting.