Borehole cataloguing is an important task in geological drilling. Traditional manual cataloguing provides the stratification of underground boreholes based on changes in core lithology. This paper proposes a novel borehole cataloguing method using a drilling process monitoring (DPM) system. This DPM cataloguing method stratifies a borehole according to the drilling speed through the rock. A 102 m borehole was drilled and cored in Baota district, Yan’an city, Shaanxi Province, China. The rock-breaking response parameters of the drill bit displacement, drill rod rotation speed and inlet pipe and outlet pipe oil pressures were monitored throughout the drilling process, and the drilling depth-penetration rate curve during the net drilling process was obtained. The changes in drilling speed show that the DPM cataloguing can identify the depths of the layer interfaces of the borehole and describe the stratification. The interface depth values obtained by DPM have little difference from the interface depth values obtained by manual cataloguing, and the errors are between −0.04% and 4.29%. From the DPM stratification results, the engineering quality evaluation of the rock mass can be realized without coring. DPM is fast, convenient, accurate, can greatly improve the efficiency of existing catalogues, and can be applied to scientific research in any underground space. DPM is a measurement-while-drilling technology. According to DPM data, the operating state of a drilling rig and the parameter changes while drilling can be obtained in situ and in real time throughout the drilling process.