Polycrystalline diamond compact (PDC) bits are superior for drilling geothermal wells because of their superior drilling performance compared to conventional roller cone bits. However, the shear action of PDC bits generates detrimental vibrations during drilling. The main objective of this study was to establish a methodology to analyze and predict the stick-slip severity in hard rocks for geothermal wells. Two non-linear coupled axial-torsional bit-rock interaction (BRI) models are presented: one is based on a velocity-decaying friction model (VDF), and the other is based on a state-dependent delay friction model (SDDF). The capabilities of the two models were evaluated to assess the axial and torsional dynamic stabilities of drill stems in deep geothermal wells. The comparative analysis, along with the results from both models, were validated using geothermal well downhole data. Five distinct zones were selected for analysis, and the stick-slip severity value (SSV) was calculated using these two models (VDF and SDDF). The results from these two models for the five different zones were compared with the field data. The results indicated that VDF demonstrated superior quality when compared with field values, as the results of VDF were within the interquartile range of the observed SSV in each zone. A sensitivity analysis employing spider plots was performed for both models, considering parameters related to rock, bit, operational, and frictional aspects. In terms of the operational parameters, the weight-on-bit (WOB) and revolutions per minute (RPM) exerted the most significant influence on the SSV for both models. For the VDF model, the sensitivity analysis indicated that the frictional parameter, uniaxial compressive strength (UCS), and number of cutters (NOC) had the most pronounced impact on the SSV. In the case of the SDDF, the Intrinsic specific energy (ISE), bit diameter, and number of blades (NOB) are the key factors that predominantly affect the SSV.