In view of the existing problems of stope roadways, which are difficult to maintain under the influence of high ground and mining-induced stresses, the structural characteristics and movement regularities of stopes surrounding rocks were analysed. Through the construction of a three-dimensional mechanical model of the coordination support of a stope, the adaptability index of the support in stope is presented, and its mechanism of operation is expounded. Yielding–resisting sand column (YRSC) sidewall-support technology with satisfactory compressibility and supporting strength was developed. The structure and actual mechanical properties of the YRSC were investigated through laboratory experiments, and the optimum ratio of filling materials was obtained. The good applicability of the load and deformation adaptability index of the three-dimensional coordination support in the stope and YRSC sidewall-support technology were demonstrated in practice at the No. 12306 working face of the Dongda coal mine. It was shown that the designed carrying capacity and compression of the sand columns satisfied the site requirements. The actual stress and deformation of the YRSC exhibited three stages: Slow growth at the initial stage, a large increase in the medium term, and a stable trend at the end. The adaptability index of the three-dimensional coordination support in the stope considers all bearing structure units of the stope as an interconnected whole, and the stability conditions of the stope roadway can be quantitatively described. The supporting effect of the YRSC is remarkable and can be applied to the construction of tunnels, bridge systems and other engineering fields.