A method based on the DR-IFMM is proposed for inpainting damaged rock art images. This method determines two optimal repair radii based on the pixel density of the damaged region, and is applied to the IFMM algorithm to generate the repaired image respectively. The IFMM algorithm improves the weight calculation rules based on the FMM algorithm, and then fuses and restructures the two images into the optimal repaired image. The experimental results show that the DR-IFMM method outperforms the MSMM, IK-means, COTR, STDecomposition, SFIIM, AutoFill and ICriminisi methods in inpainting rock art images with various types of damages, and effectively addresses the issues such as color loss and texture clutter. Compared with the LaMa method, the advantage of the proposed approach is that it still can achieve better inpainting results without model training and high-performance computer. Inpainting damaged rock art images can inherit and develop the rock art through the form of digital. and provide cultural relic researchers with a complete record of China′s ′history′ etched on stone walls.