Piston friction is one of the important but complicated sources of energy loss of a hydraulic axial piston machine. In this paper, two formulas are derived for estimating instantaneous piston friction force and average piston friction moment loss. The derived formula can be applicable for piston guides with or without bushing as well as for axial piston machines of motoring and pumping operations. Through the formula derivation, a typical curve shape of friction force found from several experimental measurements during one revolution of a machine is clearly explained in this paper that it is mainly due to the equivalent friction coefficient dependent on its angular position. Stribeck curve effect can easily be incorporated into the formula by replacing outer and inner friction coefficients at both edges of a piston with the coefficient given by Manring (1999) considering mixed/boundary lubrication effects. Novel feature of the derived formula is that it is represented only by physical dimensions of a machine, hence it allows to estimate the piston friction force and loss moment of a machine without hardworking experimental test.