We develop a novel setup based on the split Hopkinson pressure bar technique to test the dynamic friction coefficient under impact loading. In the setup, the major improvement is that the end of the incident bar near the specimen is wedge-shaped, which results in a combined compressive and shear loading applied to the specimen. In fact, the shear loading is caused by the interfacial friction between specimen and bars. Therefore, when the two loading force histories are measured, the friction coefficient histories can be calculated without any assumptions and theoretical derivations. The geometry of the friction pairs is simple, and can be either cuboid or cylindrical. Regarding the measurements, two quartz transducers are used to directly record the force histories, and an optical apparatus is designed to test the interfacial slip movement. By using the setup, the dynamic friction coefficient of PTFE/aluminum 7075 friction pairs was tested. The time resolved dynamic friction coefficient and slip movement histories were achieved. The results show that the friction coefficient changes during the loading process, the average data of the relatively stable flat plateau section of the friction coefficient curves is 0.137, the maximum normal pressure is 52 MPa, the maximum relative slip velocity is 1.5 m/s, and the acceleration is 8400 m(2)/s. Furthermore, the friction test was simulated using an explicit FEM code LS-DYNA. The simulation results showed that the constant pressure and slip velocity can both be obtained with a wide flat plateau incident pulse. For some special friction pairs, normal pressure up to a few hundred MPa, interfacial slip velocities up to 10 m/s, and slip movement up to centimeter-level can be expected.