Underground openings significantly affect the mechanical stability of underground spaces and create damaged zones. This study investigated the acoustic emission (AE) characteristics associated with the formation of damaged zones around circular openings. Uniaxial compression experiments were conducted on three types of rock specimens, namely, granite (GN-1 and GN-2), gabbro (GB), and slate (SL), containing a circular opening. AE and digital image correlation (DIC) techniques were used to monitor and evaluate the damaged zones near the circular openings. The AE characteristics were evaluated using AE parameters, including count, energy, amplitude, average frequency, and RA value. The DIC results revealed that the estimated diameters of the damaged zones of GN-1, GN-2, GB, and SL were 1.66D, 1.53D, 1.49D, and 1.9D, respectively. The average displacements at the surface of the damaged zones for these specimens were 0.814, 0.786, 0.661, and 0.673 mm, respectively, thus demonstrating a strong correlation with Young's modulus. The AE analysis with DIC revealed that tensile failure occurred in the direction parallel to the maximum compression axis as the load increased. Thus, this study provides fundamental data for a comprehensive analysis of damaged zones in underground openings and will facilitate the optimization of rock engineering projects and safety assessments thereof.