Rats are known to emit ultrasonic vocalizations (USVs). These USVs have been hypothesized to hold biological meaning, and the relationship between USVs and behavior has been extensively studied. However, most of these studies looked at specific conditions, such as fear-inducing situations and sexual encounters. In the present experiment, the USVs of pairs of rats in ordinary housing conditions were recorded and their features were examined. Three clusters of USVs in the 25-, 40-, and 60-kHz range were detected, which roughly corresponded to fighting, feeding, and moving, respectively. We analyzed sequential combinations of two or more clusters using a state transition model. The results revealed a more specific correspondence between the USVs and behaviors, suggesting that rat USV may work as a type of communication tool.