Abstract This study investigates the impact of induced low frequency axial excitations on drilling actions of Polycrystalline Diamond Compact (PDC) bits. Variations in drilling efficiency have been documented through a series of experiments at different intensities (frequency and amplitude) of axial excitations. Prior work has identified the challenges of bit wear due to high frequency oscillations and an experimental validation is conducted to incorporate vibration related force changes into mechanical specific energy (MSE) to allow for identification while drilling. Axial vibrations were induced using a controlled linear actuator at the cutter-rock interface, in low frequency regime (up to 5 Hz) using a rotary experimental setup, based on state-of-the-art modified lathe machine. Through imposition of bit kinematics of angular velocity and rate of penetration (ROP), a PDC cutter was used to drill several cores of donnybrook sandstone, at a constant angular velocity of 100 revolutions per minute (RPM). A piezoelectric triaxial sensor measured the cutting forces: normal (weight) and shear (torque) force, at the cutter-rock interface. The results quantify variation of drilling response under several combinations of frequency, amplitude and cutting speed. It was observed that forces required to penetrate through rock were reduced with minimum effect on degree of wear on the cutter, mainly due to lower intensity of induced oscillations. This shows that once periodic axial oscillations are imposed, a lesser amount of energy is required to achieve same rate of penetration (ROP), thereby indicating improvement in cutting efficiency of the drilling process. The results from this study also provides experimental evidence for the need to incorporate vibration induced force losses into the equation of drilling efficiency for correct estimations of rock strength downhole.