Rock physics encompasses practically all aspects of solid and fluid state physics. This book provides a unified presentation of the underlying physical principles of rock physics, covering elements of mineral physics, petrology and rock mechanics. After a short introduction on rocks and minerals, the subsequent chapters cover rock density, porosity, stress and strain relationships, permeability, poroelasticity, acoustics, conductivity, polarizability, magnetism, thermal properties and natural radioactivity. Each chapter includes problem sets and focus boxes with in-depth explanations of the physical and mathematical aspects of underlying processes. The book is also supplemented by online MATLAB exercises to help students apply their knowledge to numerically solve rock physics problems. Covering laboratory and field-based measurement methods, as well as theoretical models, this textbook is ideal for upper-level undergraduate and graduate courses in rock physics. It will also make a useful reference for researchers and professional scientists working in geoscience and petroleum engineering.