Percussive drilling is suitable for fragmentation of high temperature hard rocks in geothermal wells. In actual geothermal drilling, the heat exchange will occur between the low temperature drilling fluid and the high temperature rocks. This heat transfer effects can cause thermal stress in rocks. High temperature environment and thermal stress will cause rock damage. Therefore, when analyzing percussive drilling based on high temperature rock, the high temperature and heat transfer need to be considered. This article focuses on the effects of mechanical percussion-heat transfer couplings on impact stress wave propagation, energy transfer efficiency and rock damage in percussive drilling. At first, the physical model for mechanical percussion-heat transfer coupled process was built. And then the heat transfer model, fully coupled thermal stress calculation method, temperature-dependent plasticity damage model for rocks, and impact energy transfer model were introduced. Finally, the mechanical percussion-heat transfer coupled process were simulated. The main findings show that the high temperature effect will reduce the impact energy transfer efficiency. However, it can also reduce the rock strength, which contributes to the generation of rock tensile damage in percussive drilling. The heat exchange between low temperature drilling fluid and the high temperature rock will cause the tensile thermal stress in rocks. This tensile thermal stress can induce rock tensile damage, which will improve the impact energy transfer efficiency in percussive drilling. As the control group, the rocks being heated will reduce the energy transfer efficiency in percussion drilling. When the input impact energy (less than 102 J under the present simulation conditions) is small, the impact energy transfer efficiency of stinger teeth is greater than that of hemispherical teeth. And when the input impact energy is large, the impact energy transfer efficiency of hemispherical teeth is greater than that of stinger teeth. The key findings of this study are expected to provide some theoretical guidance for high-efficiency fragmentation of high temperature hard rocks in percussive drilling.