The invention discloses a heat-resistant aramid pulp friction material. The heat-resistant aramid pulp friction material comprises the following materials: a binder, reinforcing fiber, a filling material and a friction property regulator, wherein the reinforcing fiber comprises polypyrrole modified aramid pulp. The friction material provided by the invention has good heat-conducting and heat-dissipating capacities in a wide temperature range; and a brake pad prepared from the friction material provided by the invention has strong heat-fading resistance and heat-expansion resistance, stable friction coefficient and low wear rate. The preparation method for a heat-resistant aramid pulp brake pad provided by the invention comprises the following steps: preparing modified aramid pulp by using a pyrrole monomer, carrying out mixing with the binder, the reinforcing fiber, the filling material and the friction property regulator, and carrying out hot press molding so as to obtain the brake pad. The preparation method provided by the invention is simple and environment-friendly.