Earth rotation parameters (ERPs) are fundamental to geodetic and astronomical studies. With its high measurement accuracy and stability, the Very Long Baseline Interferometry (VLBI) plays an irreplaceable role in estimating the ERPs and maintaining the earth reference frame. However, the imperfect global station distribution, observation discontinuity, and vast cost of the VLBI make the GNSS a more attractive technique. In 2020, the third generation of the BeiDou Navigation System (BDS), namely BDS-3, was constructed completely. In this study, we conducted a series of experiments to estimate Earth’s rotation parameters based on the continuous BDS-3 observation data, the discontinuous VLBI observation data, and the combined BDS-3 and discontinuous VLBI observation data. We used two methods, namely the weighted averaging method and the normal equation combination method, to obtain ERP combination solutions. The results are compared with the International Earth Rotation and Reference Systems Service (IERS) EOP 20C04 at 00:00:00 UTC. Final results show that (a) the estimation accuracy becomes stable when the number of BDS-3 tracking stations is more than 40. At the same time, both the number of stations and the volume of polyhedrons formed by the observing stations affect the accuracy of the ERPs estimated by the BDS-3 or VLBI. (b) Results have also shown that the inclusion of the BDS-3 IGSO and GEO satellites contributes little to the ERP estimation. (c) For the BDS-3-only MEO satellites solution, the root mean square (RMS) was 113.2 µas, 102.8 µas, and 13.1 µs/day for X-pole coordinate, Y-pole coordinate, and length of day (LOD), respectively. For the VLBI solution, the RMSs of the X-pole, Y-pole, and LOD were 100.4 µas for the X-pole, 94.2 µas for the Y-pole, and 14.1 µs/day. The RMS was 82.6 µas, 70.3 µas, and 10.5 µs/day for the combined X-pole, Y-pole, and LOD using the weighted averaging method. It was 78.2 µas, 62.6 µas, and 8.6 µs/day when the normal equation combination method was applied. This demonstrates that by taking advantage of the BDS-3 and VLBI technique combinations, accuracy in estimating the ERPs can be improved over that using either of them, in addition to enhanced stability and reliability.