Evaluating dynamic properties in rocks is critical in addressing various challenges within rock engineering. The mechanical behaviour of rocks exhibits variations under static, cyclic, and dynamic loading conditions. This research investigates the influence of joint roughness on the dynamic properties of frictional jointed rocks, specifically those with matched single joints. Gypsum plaster was utilised to fabricate frictional jointed rock specimens with artificially introduced joint roughness coefficients (JRC) of 6–8, 12–14, and 18–20. Cyclic torsional shear tests were performed on these single-jointed rocks, exploring a range of experimental conditions, including strain amplitude, frequency, confining pressure, and the number of cycles. The study aims to elucidate the individual and combined effects of these parameters on the shear modulus and damping ratio of frictional jointed rocks across varying JRCs. The research identifies the variation in shear modulus and damping ratio of single-jointed rocks concerning individual joint characteristics (i.e., JRC) and loading characteristics (i.e., frequency, confining pressure, strain amplitude, and number of cycles). The study analyses the combined influence of material properties and loading characteristics on the dynamic properties of frictional jointed rocks through regression analysis. This research holds potential applications in scenarios where rock masses undergo repetitive cyclic loading.