The flow of fluid through the porous matrix of a reservoir rock applies a seepage force to the solid rock matrix. Although the seepage force exerted by fluid flow through the porous matrix of a reservoir rock has a notable influence on rock deformation and failure, its effect on hydraulic fracture (HF) propagation remains ambiguous. Therefore, in this study, we improved a traditional fluid–solid coupling method by incorporating the role of seepage force during the fracturing fluid seepage, using the discrete element method. First, we validated the simulation results of the improved method by comparing them with an analytical solution of the seepage force and published experimental results. Next, we conducted numerical simulations in both homogeneous and heterogeneous sandstone formations to investigate the influence of seepage force on HF propagation. Our results indicate that fluid viscosity has a greater impact on the magnitude and extent of seepage force compared to injection rate, and that lower viscosity and injection rate correspond to shorter hydraulic fracture lengths. Furthermore, seepage force influences the direction of HF propagation, causing HFs to deflect towards the side of the reservoir with weaker cementation and higher permeability.