The invention discloses a method for rock mining and filling in a mine goaf. The method includes the following steps: a) conducting normal coal mining operation on working face; b) implementing explosion top removing on a designed top breaking area of the goaf; c) conducting segmentation filling on waste rock dropped in the explosion top removing process on a filling area through a filling rock transportation machine; and d) conducting grouting solidification work on the filling area through a grouting solidification system. The method for rock filling has the advantages of resolving the problem of insufficient waste rock filling quantity, simplifying a mine filling system, reducing waste rock transportation cost, improving filling efficiency, reducing labor intensity of workers and the like, and can improve strength and top connection of a filling body by adopting grouting solidification work.