When mining the multiple coal seams in close proximity, the coal pillar left in the goaf causes stress concentration in the floor. The layout of mining roadway in lower short distance coal seam is affected by the propagation of concentrated stress caused by the upper coal pillar. To determine the reasonable distance of the roadway in the lower coal seam outside the coal pillar, the attenuation law of concentrated stress outside the coal pillar boundary has been studied through simulation model, theoretical analysis, and example analysis. The results show that the concentrated stress of coal pillar decreases with the distance from the coal pillar. At the coal pillar boundary position, the stress change rate reaches the maximum in the floor with different depths, and the stress decreases rapidly in the floor strata outside the coal pillar. Under the same stress condition, the roadway layout in strata at different depths is different. The joint formula of stress and stress change rate was deduced to determine the reasonable horizontal distance of roadway outside coal pillar. The results obtained by the numerical simulation fitting formula and the theoretical calculation formula are close to each other when calculating an engineering example. The roadway pressure appearance is not obvious in the experiment and physical simulation, which indicates that the theoretical formula can satisfy the requirement of engineering calculation. The method provides a reference for roadway location selection under similar conditions.