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The electrostatic property of textile fabrics has been one of important factors determining a quality of fabrics. However, it has not been easy to evaluate since it was too sensitive to the environmental variables and the types of test methods. In this study, we designed simultaneous measurements system of tribo-electrification and charge decay with an estimate method of electrostatic property for textile fabrics. An automatic tension reliever of rubbing cloth and data acquisition system were attached to the rotary rubbing system for further detailed analysis. Through the system developed, fabric's charging and discharging phenomena and characteristics of charge decay time by the rotary rubbing were elucidated in details. It was found that wool fabrics rapidly charged with electricity at the initial stage, and immediately followed by the steady state charge.