Dry sliding wear characteristics of the as-cast Mg–10.1Gd–1.4Y–0.4Zr alloy were investigated at 3.0 m/s within a temperature range of 20–200 °C on a pin-on-disc type wear testing machine. Wear rates were acquired and plotted against load at each test temperature. There existed a turning point on the wear rate versus load curve at each test temperature; it corresponded to the mild-severe wear transition. The wear mechanisms were confirmed through morphological and compositional analysis of worn surfaces. An elevated-temperature wear mechanism transition map was drawn, in which mild and severe wear regions were indicated. The differences in microstructure as well as microhardness in subsurfaces were compared between samples worn in the two different regions. The dynamic recrystallization (DRX) softening of the surface material was found to be responsible for mild-severe wear transition. An approximately linear relationship was found between the transition load and test temperature, suggesting that mild-severe wear transition of the alloy still follows a surface temperature criterion even at elevated temperatures. The critical surface temperature is thought of to be the DRX temperature of the alloy. It is approximately 279.3 °C based on the linearly fitting analysis of the transition load versus test temperature.