Rocks on the Martian surface and their three-dimensional (3D) morphology record the geological evolution of Mars and its interaction history with outer space. China's Zhurong Mars rover has traveled on Mars for nearly 2 kilometers and obtained a wealth of data, enabling the fine-scale measurement and morphological analysis of 3D Martian rocks. With 178 high-resolution Zhurong NaTeCams stereo images acquired in rings covering large circular areas, we extracted 6,185 3D rocks from centimeter-scale to meter-scale distributed along the traverse of the Zhurong rover using an automatic approach. This dataset includes the digital elevation model (DEM), extracted rocks in point clouds, and the 3D morphological features of rocks derived from the Zhurong NaTeCams images, obtained in six areas along the traverse of the Zhurong rover. To use this dataset, please cite "Li, Y., Xiao, Z., Ma, C., Zeng, L., Zhang, W., Peng, M., & Li, A. (2023). Extraction and Analysis of Three‐dimensional Morphological Features of Centimeter‐scale Rocks in Zhurong Landing Region. Journal of Geophysical Research: Planets, e2022JE007656."