Because of porosity and mineralogy disparity, rocks have a broad range of bulk densities, a critical property that has an important role in rock characterization. Practically, the density of rock is estimated either via wireline logging or logging while drilling tools. However, these techniques are not always accessible, making the door open for using different predicting methods such as empirical correlations. The existing empirical correlations have substantial restrictions, which limited their accuracy and reliability. This work targets developing various artificial intelligence models to predict bulk density for complex lithology during drilling (i.e., at real-time). The artificial neural network (ANN) and adaptive neuro-fuzzy inference system (ANFIS) techniques are used with the mechanical drilling parameters as inputs. This study uses a vertical well with 2912 data points from various lithologies including sand, carbonate, and shale to develop the models. Besides, a new empirical correlation for bulk density is developed based on the optimized ANN technique. A different dataset from the same tested field was used to validate the developed models. The obtained outcomes demonstrated that both ANN- and ANFIS-based models estimated the rock density with high fitting accuracy. The ANFIS approach results correlation coefficient (R) values of 0.99 with an average absolute percentage error (AAPE) values of 0.83 and 0.92% in training and testing processes. Whereas the ANN approach is slightly outperformed, as described by the highest R values of 0.99 and the lowest AAPE of 0.77 and 0.93% for training and testing processes. Also, a new empirical model for bulk density estimation was derived from the developed, optimized ANN-based model, which is applicable to the extracted weights and biases. The validation process indicates the robustness and reliability of the developed models with R values of 0.99 and AAPE of 0.92 and 0.96% for ANN- and ANFIS-based models, respectively. The outcomes of this work develop models with high accuracy for real-time prediction of bulk density, which can help in rock description in an adequate method with less cost, time, and errors.