Infrared thermography is a growing technology in the engineering geological field both for the remote survey of rock masses and as a laboratory tool for the non-destructive characterization of intact rock. In this latter case, its utility can be found either from a qualitative point of view, highlighting thermal contrasts on the rock surface, or from a quantitative point of view, involving the study of the surface temperature variations. Since the surface temperature of an object is proportional to its emissivity, the knowledge of this last value is crucial for the correct calibration of the instrument and for the achievement of reliable thermal outcomes. Although rock emissivity can be measured according to specific procedures, there is not always the time or possibility to carry out such measurements. Therefore, referring to reliable literature values is useful. In this frame, this paper aims at providing reference emissivity values belonging to 15 rock types among sedimentary, igneous and metamorphic categories, which underwent laboratory emissivity estimation by employing a high-sensitivity thermal camera. The results show that rocks can be defined as “emitters”, with emissivity generally ranging from 0.89 to 0.99. Such variability arises from both their intrinsic properties, such as the presence of pores and the different thermal behavior of minerals, and the surface conditions, such as polishing treatments for ornamental stones. The resulting emissivity values are reported and commented on herein for each different studied lithology, thus providing not only a reference dataset for practical use, but also laying the foundation for further scientific studies, also aimed at widening the rock aspects to investigate through IRT.