Aiming at the rock-socketed pile in the soft rock area, this paper studies the inherent constitutive relationship between the vertical restraint stiffness at the pier bottom and the bearing capacity of the pile foundation. A new method to evaluate the bearing capacity of the pile foundation is proposed. Based on the Rayleigh energy method and the Southwell frequency synthesis method, the analytical expression of the vertical vibration fundamental frequency of the pier was calculated, and the constraint stiffness expression of the pier bottom was derived. By investigating the impact of parameters on the bearing capacity coefficient of the pile foundation, the fitting formula of the bearing capacity coefficient was obtained by multiple linear regression. Then, with this method, the vertical fundamental frequency of the pier was obtained through a field dynamic test to calculate the vertical constraint stiffness and evaluate the bearing capacity of the rock-socketed pile in the soft rock area. This method can overcome the shortcomings of the traditional static load test method, such as the high cost, long cycle, and poor representativeness. Finally, this method’s accuracy was verified by comparing field measurements and finite element simulation results. The results show that the difference between the code design constraint stiffness and the constraint stiffness by the frequency synthesis method was about 0.7%, and the bearing capacity difference between the analytical solution and the numerical simulation was small. The new method is accurate and effective.