Based on guided wave theory and considering the grouted rock bolt as waveguide medium, we have constructed a three dimensional model of grouted rock bolt with the dynamics of finite difference numerical simulation software FLAC3D4.0, and simulated the propagation behavior of the guided wave in the full grouted rock bolt. The simulated waveform and wave velocity matched well with the experimental results. We have made a more in-depth and comprehensive study of the wave velocity, wave component and attenuation characteristics of the guided wave propagating in rock bolt, and found some new characteristics and phenomena. In addition, some phenomena that haven’t been explained in the previous researches have also been discussed in this paper. The result showed that when guided wave propagates in grouted rock bolt, after the body wave decays, there is still the interface wave-Stoneley wave that does not decay in the axial direction of the bolt. The findings can provide some reference for rock bolt testing and the selection of the optimal excitation wave of testing. Based on guided wave theory and considering the grouted rock bolt as waveguide medium, we have constructed a three dimensional model of grouted rock bolt with the dynamics of finite difference numerical simulation software FLAC3D4.0, and simulated the propagation behavior of the guided wave in the full grouted rock bolt. The simulated waveform and wave velocity matched well with the experimental results. We have made a more in-depth and comprehensive study of the wave velocity, wave component and attenuation characteristics of the guided wave propagating in rock bolt, and found In addition, some phenomena that have not been explained in the previous researches have also been discussed in this paper. The result showed that when guided wave propagates in grouted rock bolt, after the body wave decays, there is still the interface wave-Stoneley wave that does not decay in the axial direction of the bolt. The findings can provide some reference for r ock bolt testing and the selection of the optimal excitation wave of testing.