The goaf formed by mining is filled and treated, which greatly improves the safety and stability of the surrounding rock. During the filling process, the roof-contacted filling rates (RCFR) of goaf were closely related to the stability control of the surrounding rock. The influence of the roof-contacted filling rate on the mechanical characteristics and crack propagation of the goaf surrounding rock (GSR) has been studied. Biaxial compression experiments and numerical simulation experiments were conducted on samples under different operating conditions. The results were as follows: (1) The peak stress, peak strain, and elastic modulus of the GSR are closely related to the RCFR and the goaf size; they increase with the increase of the RCFR, and decrease with the increase of the goaf size; (2) In the initial loading stage, a small number of cracks are generated, and the acoustic emission ringing count increases slowly. The mid-loading stage is the crack initiation and rapid expansion, and the cumulative ring count curve shows a “stepwise” growth. In the later loading stage, cracks continue to propagate and form macroscopic fractures, but the number of rings significantly decreases; (3) Shear cracks are prone to occur in the rock part of the GSR; tensile cracks are prone to occur in the backfill; and the crack propagation speed in the rock is faster than in the backfill. Stress concentration is the direct cause of GSR failure. The maximum concentrated stress of rock mass and backfill is 1~2.5 times and 0.17~0.7 times of the peak stress of the GSR, respectively.