<p>Measurement while drilling (MWD) technology can be employed to estimate rock uniaxial compressive strength (<i>UCS</i>) rapidly and continuously along with drilling process and it is of great importance to optimize mine blasting design. The existing estimation methods in previous studies for MWD data interpretation face challenges in adapting to various drilling operations or conditions. This paper introduces a new rock <i>UCS</i> estimation method based on the intrinsic drilling response relationships between thrust, torque, and penetration-per-revolution. The intrinsic drilling response relationships have been theoretically clarified based on the analysis of the interactions between bit and rock. An updated drilling performance model is then developed and validated through a series of drilling tests. The model parameters are highly related to rock mechanical properties, especially rock <i>UCS</i>. Based on the updated drilling performance model, a new method for estimating rock <i>UCS</i> is thus derived and compared with the previous methods. The mean relative error of the proposed method for rock <i>UCS</i> estimation is 17%, which is more accurate than those from the previous models (i.e., 39% ~ 79%) and the proposed <i>UCS</i> estimation method is more robust to changes in drilling operations and conditions. It can provide support for precision blast design in metal mines. The methodology for developing rock <i>UCS</i> estimation method can also be applied to other rotary drilling rigs.</p>