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Self-propelled nozzle is a critical component of the radial jet drilling technology. Its backward orifice structure has a crucial influence on the propulsive force and the drilling performance. To improve the working performance of the nozzle, the numerical simulation model is built and verified by the experimental results of propulsive force. Then the theoretical model of the energy efficiency and energy coefficient of the nozzle is built to reveal the influence of the structural parameters on the jet performance of the nozzle. The results show that the energy efficiency and energy coefficient of the backward orifice increase first and then decrease with the angle increases. The energy coefficient of forward orifice is almost constant with the angle increases. With the increase in the number and diameter, energy efficiency and energy coefficient of the forward orifice gradually decrease, but the backward orifice energy coefficient first increases and then decreases. Finally, it is obtained that the nozzle has better jet performance when the angle of backward orifice is 30°, the number of backward orifice is 6, and the value range of diameter is 2–2.2 mm. This study provides a reference for the design of efficiently self-propelled nozzle for radial jet drilling technology.