Precisely understanding the dynamic mechanical properties and failure modes of rocks subjected to true triaxial stress state (σ1 > σ2 > σ3, where σ1, σ2, and σ3 are the major principal stress, intermediate principal stress, and minor principal stress, respectively) is essential to the safety of underground engineering. However, in the laboratory, it is difficult to maintain the constant true triaxial stress state of rocks during the dynamic testing process. Herein, a numerical servo triaxial Hopkinson bar (NSTHB) was developed to study the dynamic responses of rocks confronted with a true triaxial stress state, in which lateral stresses can maintain constant. The results indicate that the dynamic strength and elastic modulus of rocks increase with the rise of intermediate principal stress σ2, while the dynamic elastic modulus is independent of the dynamic strain rate. Simulated acoustic emission distributions indicate that the intermediate principal stress σ2 dramatically affects dynamic failure modes of triaxial confined rocks. As σ2 increases, the failure pattern switches from a single diagonal shear zone into two parallel shear zones with a small slant. Moreover, a recent triaxial Hopkinson bar experimental system using three bar pairs is also numerically established, and the measuring discrepancies are identified between the two numerical bar systems. The proposed NSTHB system provides a controllable tool for studying the dynamic triaxial behavior of rocks.