The sediment at the bottom of the pipe will change the pipe-rock contact state in long-distance rock pipe jacking engineering. Thus, the typical pipe-soil friction resistance calculation model used in the soil layer cannot reflect the dynamic contact state of the pipe-rock in long-distance pipe-rock jacking engineering. Combined with the typical pipe-rock contact model in long-distance rock pipe jacking, the main factors affecting the pipe friction resistance in the rock stratum are systematically analyzed, and the model’s applicability is verified by case analysis. The results show that the rock sediment, mud buoyancy, and pipe-rock friction coefficient are the main factors affecting the friction resistance of pipe in long-distance rock pipe jacking engineering. The suspension state, top point contact state, and full contact state can reflect the pipe-rock contact state in the initial jacking stage, normal jacking, and the extreme case of stuck pipe risk, respectively. The case study shows that the typical pipe-rock contact state proposed in this paper can reflect the friction resistance of long-distance rock pipe jacking at different stages of jacking, which has certain practicability and can provide a reference for similar projects.