To facilitate the better use of RP-3 kerosene in compression ignition engines, the auto-ignition behaviors of RP-3 kerosene spray were experimentally investigated in an optical rapid compression machine. Results show that most of the tests have good ignitability and combustion performance. For all the successful ignited cases, the flame kernel was found to be formed before the steep rise of pressure, which explained that image-based ignition delay time is always shorter than the pressure-based ignition delay time. The effects of ambient environment, injection pressure, and injection delay time on the pressure history, ignition intensity, combustion duration, heat release rate, and other parameters were investigated individually. The ambient environment has a strong influence on ignition delay time by accelerating the chemical reactions, whereas the high injection pressure helps the better vaporization of fuel spray. The effect of injection delay time is non-monotonic as the trade-off relation between heat loss and blending of fuel and oxygen. The heat release rate histories under different conditions were compared and analyzed, and the two-stage heat release phenomenon was observed in the negative temperature coefficient region. The ignition intensity region was determined based on the measured ignition delay times of RP-3 kerosene spray, and multiple linear regression correlation was used to study the ignition delay time sensitivity to multi-factors.