Speaking at the 2014 Gateway Conference, he said that people had been arrested at their home, left rusty nails on their driveway and thrown rocks at him and his children. Mr Driscoll also said his youngest son, who is eight, has been experiencing night terrors.
According to The Christian Post, the father-of-five announced: "We've had a very trying season and [I'm] just trying to figure out how to be a good pastor to my family first. We all know that's the most important thing.
"We've got five kids: three boys, two girls ages eight to 17. We've moved three times for safety issues: people arrested at our home, death threats, address posted online, all kinds of things, and more recently it's gotten more severe.
"We were in the tent all night and woke up in the morning at about 6:30 or so and huge rocks about the size of baseballs come flying at my kids [of] 8, 10 and 12 years of age. [We] call the police and flee into the house for their safety.
"A few days later, I think it was, I don't even remember, a member of the media flies overhead with a helicopter and is trying to flush us out for a story and that night we're hiding in the house my eight-year-old son comes down and he's wearing a military jacket, he's loading up his Airsoft rifle and he looks at me and he says, 'Hey dad, is this jacket bullet proof?'"
Driscoll was originally scheduled to speak at the event but decided to come as an attendant instead. He was invited to onto the stage to share by Gateway Church's senior pastor, Robert Morris.
The former Mars Hill leader resigned after being accused of bullying and dominating.
He has publicly apologised for comments he made under a false name in an online chatroom in 2000, which have been perceived as homophobic, sexist and judgemental.
Driscoll has also been accused of plagiarism and hiring a marketing company to help his book get on The New York Times' bestseller list.