Abstract: Rotary percussive drilling technology is an efficient rock-breaking method for deep hard rocks, but it has problems in on-site application, such as unstable acceleration effect and poor matching between impact parameters and formation. In response to this issue, tensile tests, uniaxial and triaxial compression tests, and Hopkinson bar impact tests were conducted on rocks from the second member of Xujiahe Formation, as well as Qixia, Maokou, and Longmaxi formations in the Sichuan Basin. The parameters of the （Holmquist−Johnson−Cook） (HJC) constitutive model were determined, and the correctness of the model parameters was verified by establishing a PDC single-cutter drop hammer impact test. Based on the parameters of the geological constitutive model in the Sichuan Basin, a numerical simulation model for rotary percussive drilling of full-size drill bits was established. The influence of axial impact parameters and rock mechanical parameters on the drilling effect of rotary percussive drilling during rock-breaking was analyzed. The results show that the established model can reproduce the rotary percussive drilling process. When all other parameters are the same, the drilling speed and efficiency of rectangular impact loads are the highest, followed by the rock-breaking effect of serrated and sinusoidal loads. The speed and efficiency of rotary percussive drilling are greatly affected by the impact frequency and amplitude, and there is an optimal value for the impact frequency. To some extent, increasing the impact amplitude is beneficial for improving the drilling speed and efficiency. The optimal impact frequency for rocks in the second member of Xujiahe Formation and other key horizons of the Sichuan Basin is 10–18 Hz, which is linearly negatively correlated with the brittleness index of the rock. The determination method and results of the key horizons’ HJC model parameters in the Sichuan Basin can provide reference for subsequent research. The numerical analysis results of the model can provide theoretical support for recommending the parameters of the rotary percussive drilling tool in the Sichuan Basin.