Tunnel boring machine (TBM) tunnel construction in composite strata relies heavily on understanding the rock-breaking characteristics of TBM cutters and optimizing cutter spacing and penetration. Utilizing a full-scale rock rotary cutting machine (RCM), this study conducted rock-breaking tests with disc cutters under varying rolling radii. An analysis of rock debris shape and cutter behavior provided insights into rock-breaking mechanisms. Two main types of rock fragments were identified, with both shear and compression failure observed during cutter–rock interactions. The influence of the rolling radius and cutter spacing on cutter forces was analyzed, along with numerical modeling using the particle flow method. Optimal cutter selection in soft–hard composite strata should prioritize cutter force, with the greatest force required in hard rock. Cutter force increases with penetration, while the force difference between cutters decreases with reduced cutter spacing. These findings offer practical guidance for efficient rock-breaking in composite geological formations during tunnel construction.