To further enhance the various physical properties of plant-derived polyamide biomass composites, we investigated the influence of screw configuration in a twin screw extruder on the rheological, mechanical and tribological properties of hemp-fiber (HF) reinforced plant-derived polyamide 1010 (PA1010) biomass composites. These biomass composites were extruded using the twin screw extruder, and subsequently, samples of various shapes were injection-molded using an injection-molding machine. In this study, two types of screw configurations were used for the twin screw extruder: original screw (conventional type, sc1) and modified screw (mixing elements-added type, sc2). The dynamic viscoelastic properties of molten state of HF/PA1010 biomass composites prepared by sc2 were found to be significantly lower than those of sc1 in the whole range of angular frequencies. The mechanical and tribological properties of HF/PA1010 biomass composites prepared by sc2 were also better than those of sc1. These findings suggest that the modification of the screw configuration has a stronger influence on the dynamic viscoelastic properties of molten state, mechanical and tribological properties of the biomass composites. This may be attributed to the change in the internal microstructure formation such as fiber shape, fiber network formation, and fiber dispersion in the composites.