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In this study, selective laser melting (SLM) Ti-6Al-4V is subjected to heat treatment for 4 h at 400 °C, 600 °C, and 800 °C, followed by air cooling. After heat treatment at 400 °C and 600 °C, the ductility was lower (strength increased). This was could be for two reasons: (1) high temperature tensile properties, and (2) particle erosion wear induced phase transformation. Finally, the particle erosion rates of as-SLM Ti-6Al-4V and heat treatment for 4 h at 800 °C (labeled 800-AC) were investigated and compared; the lamellar α + β phases in 800-AC are difficult to destroy with erosion particles, resulting in the erosion resistance of 800-AC being higher than that of the martensitic α’ needles in the as-SLM Ti-6Al-4V at all impact angles (even the hardness of the 800-AC specimen was lower). The as-SLM Ti-6Al-4V alloy needs heat treatment to have better wear resistance.