<p>Stick–slip vibration is a common phenomenon in ultra-deep drilling that significantly impacts the failure of both drill bits and drill tools. The most direct and efficacious approach to alleviating the stick–slip vibration of the drill string in the downhole is to modify its external excitation. In recent years, the composite impact tools that can simultaneously offer axial and torsional excitation in the downhole have been applied, effectively reducing the stick–slip vibration of the drill string. However, the mechanical mechanism thereof remains undefined. In order to understand the nature of this phenomenon, A dynamic model of the drill string taking into account multi-directional excitations is presented. The governing nonlinear equations are obtained by using the Lagrangian approach, which take the work done by the multidirectional excitation into consider. The Hertz contact model is introduced considering the constraints of the wellbore, and the finite element node iteration method is employed to solve the dynamics equation of drill string. The axial vibration, torsion vibration and phase trajectory characteristics of the drill string under multidirectional excitation are analyzed, and the inhibitory effect of the excitations on stick–slip vibration is clarified. The results show that the vibration characteristics of the bottom hole assembly can be significantly altered through periodic axial and torsional excitations at higher frequencies, resulting in the emergence of high-frequency vibration responses. These responses exhibit a pronounced inhibitory effect on stick–slip suppressed.</p>