Personally, while I definitely identify with the "fear of failure" personality trait, I find my procrastination is down to two things: depleted willpower and inertia.
To help with willpower, I try to keep my home environment as tidy and organized as possible (which doesn't come naturally). There's not too much I can do about my dayjob other than minimize my emotional investment (which also doesn't come naturally).
I find inertia is the most important and possible variable to change. A yoga teacher told me once: "it's not so hard. Just start... then continue". Once I actually push past the hurdle of starting a project, and make sure I put some time into it weekly (even if it's only 30 minutes), over time my mental resistance aka procrastination diminishes, and I start to enjoy myself.
Start... then continue.