Influenced by the deep high-stress environment, geological structures, and mining disturbance in coal mines, the frequency of rockburst disasters in roadways is increasing. This research analyzed energy evolution characteristics during rockburst development in the elastic bearing zone and energy conversion in the plastic failure zone. The critical energy criteria for structural instability of roadway surrounding rocks were deduced. Numerical software was also applied to simulate the energy evolution during rockburst development in surrounding rocks of rockburst-prone roadways under conditions of different mining depths and coal pillar widths. The occurrence mechanism of rockburst deep in coal mines was analyzed from the perspective of energy in structures of deep roadway surrounding rock in coal mines. The research results show that the critical energy criteria are closely related to the elastic strain energy stored in deep roadway surrounding rocks and the energy absorbed by support systems. The impact energy in roadways is directly proportional to the square of the stress concentration factor k. Moreover, as the mining depth increases, the location of the peak point of maximum energy density gradually shifts to coal ahead of the working face. The larger the mining depth is, the more significantly the energy density is influenced by advanced abutment pressure of the working face and the wider the affected area is. With the increment of the coal pillar width, the distance from the peak point of energy density to the roadway boundary enlarges abruptly at first and then slowly, and the critical coal pillar width for gentle change in the distance is 30 m. Changes in the peak elastic energy density in coal pillars with the coal pillar width can be divided into four stages: the slow increase stage, abrupt increase stage, abrupt decrease stage, and slow decrease stage. The elastic energy density is distributed asymmetrically in deep roadway surrounding rocks in coal mines. Under the action of structures of roadway surrounding rocks, energy evolution in these structures differs greatly during rockburst development under conditions of different coal pillar widths. This research provides an important theoretical basis for the support of rockburst-prone roadways during deep coal mining.