The technology of building a retaining roadway along goaf or a protecting roadway with a small coal pillar has been developed and applied for many years, and a satisfactory supporting effect has been obtained in medium–thick coal seam and thin coal seam mining. However, the gob-side roadway or small coal pillar mining in a thick coal seam is still subjected to technical problems occasioned by factors such as high roadway, high support pressure beside roadway, and waste of coal resources. To solve these problems, the author proposes an innovative technology of coal-free mining: the technology of driving roadway along goaf with a flexible formwork pre-cast wall. The article utilizes the 3503 and 3505 working faces of Wangzhuang Coal Industry Group as the research background, and comprehensively introduces the principle of the technology and the overburden rock movement law. Through theoretical calculations and numerical simulations, the support resistance and support parameters of flexible formwork pre-cast walls have been determined and successfully performed in industrial practice. The results indicate that the combination of the flexible mould pre-cast wall coal pillar-free mining technology and roof cutting process is more conducive to the maintenance of the roadway in the lower working face, and effectively reduces the stress and deformation of the surrounding rock. The roof and floor of the drivage roadway move, and the deformation of the two sides is small; furthermore, the overall roadway retention effect is satisfactory, which meets the requirements of mining in the lower working face. The coal pillar pertaining to the 20 m section of the 5 m high mining height face was recovered for Wangzhuang Coal Mine, and the recovery rate of the coal resources and the driving speed of the roadway were improved. The proposed method can be popularised and applied in this mine and even in the mining of 15# large-height coal seams in the two cities.