It is difficult to calculate the penetration rate (ROP) of percussion drilling. In the early research, the empirical or semiempirical formulae of the ROP are derived from the laboratory or field data collected by the researchers. However, the ROP value of the formulae is not as accurate as that in the field. Benefiting from the dynamic model, the geometric structure model and the theory of the roller cone bit, the mathematical model of the hammer bit, the mathematical model of the true bottom hole and the mathematical model between the tooth and the rock of the hammer bit are established. Hence the ROP of the air percussion drilling can be predicted by simulation. Field tests show the models are reliable and the results are coincident with that in the field. The research can help to redesign the hammer bit and optimize the drilling parameters.