Hydrophobic coatings have attracted extensive research due to their broad application prospects. However, hydrophobic coatings in practical applications are often limited by their insufficient stability and are difficult to be applied on a large scale. In this regard, wear and heat resistance are key aspects that must be considered. In this paper, a method for preparing a robust hydrophobic coating with modified ZrO₂ particles as the core component and modified acrylic resin is proposed. First, γ-aminopropyltriethoxysilane (APTES) was used to silanize ZrO₂ to obtain Si–ZrO₂ nanoparticles, which were grafted with amino groups. Then, the nanoparticles reacted with isocyanates to be grafted with hydrophobic groups. A simple spray method was developed to deposit a hydrophobic (141.8°) coating using the mixture containing the modified nanoparticles and non-fluorinated water-based silicon-modified acrylic resin (WSAR) that was prepared by free radical polymerization. The obtained coating exhibited a rough surface and the particles and resin were closely combined. Compared with pure resin coating, the composite coating exhibited 150% enhancement in wear resistance and it could wear 45 meters at a pressure of 20 kPa. Moreover, the coating could maintain the hydrophobic property even when it lost 70% quality or after it was heated at 390 °C. The thermogravimetric results showed that the temperature could reach 400 °C before the quality of the fluorine-free coating dropped to 90%. In addition, the coating could easily take away graphite or silicon carbide powder under the impact of water droplets, showing excellent self-cleaning performance.