The invention discloses a drilling machine system based on dynamic control of a tool face of a self-adaptive downhole drilling tool and a well drilling method. The drilling machine system comprises a dynamic control system and a well drilling system, the dynamic control system comprises a data collection system, a control strategy input module, a well drilling model information input module, a multi-body dynamics modeling module, a self-adaptive model correction module, a tool face estimation module, a control rule generation module, an execution module and a danger state judgment module. A user inputs a control strategy and a well drilling model, the data collection module collects system drilling condition, the multi-body dynamics modeling module performs multi-body dynamics modeling on the basis of the well drilling model, the self-adaptive model correction module corrects a multi-body dynamics model on the basis of the drilling condition, the tool face estimation module and the control rule generation module calculate control rules for controlling the execution module on the basis of the control strategy, the drilling condition and the multi-body dynamics model after being corrected, and the danger state judgment module gives out an alarm when the system is in a danger state. The drilling machine system can remarkably improve well drilling efficiency and accuracy and can be widely used for downhole directional drilling.