Tribological characteristics of two imidazolium-based room temperature ionic liquids (RTILs), 1-hexyl-3-methylimidazolium tetrafluoroborate, and 1-hexyl-3-methylimidazolium hexafluorophosphate were investigated under high vacuum conditions. Viscosity–temperature characteristics and thermogravimetric characteristics of these compounds were also investigated. Imidazolium-based RTILs have relatively good viscosity–temperature characteristics that are comparable to those of multiply-alkylated cyclopentane (MAC). Thermogravimetric results showed that ionic liquids have high thermal stability and low vapor pressure. Ionic liquids showed low friction and low wear rate under high vacuum conditions, and high load-carrying capacity was observed.