In this paper, Ni was introduced into the matrix of carbon fiber reinforced SiOC (C/SiOC) composites by the precursor infiltration and pyrolysis method to catalyze the generation of in situ formed nanostructures including carbon nanotubes (CNTs), turbostratic carbon, and SiC. The effect of in situ formed nanostructures catalyzed by Ni on the properties of the C/SiOC composites was investigated. The results demonstrated that the presence of in situ formed nanostructures in the matrix improved the densification and mechanical properties of C/SiOC composites. In addition, the incorporation of in situ formed nanostructures facilitated the formation of thermal conductivity pathways within the composites, thereby enhancing the thermal conductivity of C/SiOC composites. Furthermore, in situ formed nanostructures-containing C/SiOC composites developed a carbon friction layer comprising CNTs and turbostratic carbon, which significantly enhanced the abrasion resistance, endowing C/SiOC composites stable friction coefficients, and lower levels of wear.