Basalt fiber reinforced polymer (BFRP) composite pipe is an excellent alternative to glass and carbon fiber reinforced composite pipes in industry and promising in high recycling for polymer composite used in aerospace, marine, and automotive. To enhance the solid particle erosion (SPE) properties of filament-wound BFRP composite pipe while preserving its mechanical properties, reinforced BFRP composite pipes were prepared to employ non-functionalized graphene nanoplatelets (GnPs) at a reinforcement concentration of 0.25 wt.% and ultrasonication mixing technique. The SPE behavior of GnPs reinforced and non-reinforced BFRP composite pipes were characterized by axial and radial positioning of the inner and outer surfaces of the pipes. In each case, the erosion rates of these composite pipes were evaluated at five impingement angles (30°, 45°, 60°, 75°, and 90°) and an impact velocity of 34 m/s. The erosion response of both BFRP composite pipes' outer surfaces showed a semi-ductile in the axial positioning, with a maximum erosion rate at a 60° impingement angle. However, these composite pipes' inner surfaces in the same positioning presented a maximum erosion rate at a 45° impingement angle. Besides, it is explored that the GnPs contribute to an improvement of approximately 10%–55% in erosive wear resistance of the non-reinforced BFRP composite pipes. The damage analysis of eroded surfaces was examined through scanning electron microscopy (SEM), and the GnPs effect upon composite pipes' erosion micromechanisms was presented and discussed in detail. Highlights: GnPs increased the BFRP composite pipe's erosion resistance. Erosion rate on the inner surface increases due to particle accumulation. GnPs improved erosion behavior via solid lubrication and mechanical properties.