As a commonly used liner material for fully reinforced, carbon-fiber-composite hydrogen storage cylinders, polyamide 6 (PA6) needs to meet the required hydrogen permeation index during use; otherwise, it may adversely affect the safe use of hydrogen storage cylinders. The hydrogen permeability of PA6 under different temperatures and pressures was tested, and the variations in its hydrogen permeability were investigated. Additionally, the hydrogen permeability of PA6, polyamide 11 (PA11), and high-density polyethylene (HDPE) at a temperature of 288 K and a pressure of 70 MPa was tested, and the differences in hydrogen permeability among these commonly used liner materials for type IV on-board hydrogen storage cylinders were studied. The results reported herein indicate that both the hydrogen permeability and diffusion coefficient of PA6 increase with rising test temperature but decrease with increasing pressure. The solubility coefficient of PA6 shows no significant change with varying test temperatures and pressures. At a test temperature of 288 K and a pressure of 70 MPa, among the three materials, PA6 has slightly stronger hydrogen permeation resistance than PA11, while HDPE has the least resistance. These research findings can serve as valuable reference data for evaluating the hydrogen permeability of liner materials.