Hydraulic jump is one of the most important free-surface flow phenomena for energy dissipation in hydraulic structures. Since the classical hydraulic jump relationships have mainly been developed for smooth beds, this study experimentally investigates the effects of hydraulic bed roughness, including simple roughness and perforated cubic roughness elements, on hydraulic jump characteristics. The jump length, jump toe location, jump height, energy dissipation, and mean bed shear stress were evaluated under different flow conditions. The results showed that the addition of roughness elements to the bed reduces the hydraulic jump length, changes the jump toe location, and increases the relative jump height. Moreover, the bed with perforated cubic roughness exhibited a greater influence on flow structure modification and hydraulic jump control compared with the simple roughness bed. The analysis of mean bed shear stress indicated that this parameter increased with increasing bed roughness, where the average shear stress values for the smooth bed, simple roughness bed, and perforated cubic roughness bed were obtained as 16.05, 31.12, and 45.38 Pa, respectively. Furthermore, the results demonstrated that perforated cubic roughness, due to the combined effects of surface roughness and flow exchange within the bed, had the greatest impact on modifying hydraulic jump characteristics, including jump length, jump toe location, relative jump height, energy dissipation, and mean bed shear stress. These findings can be applied to the optimal design of energy dissipation structures and erosion control of hydraulic beds.