If the planet has no Sun, there will be no energy reaching it as sunlight. No photosynthesis, no plants, no herbivores. What are the alternative sources of energy available? Geothermal. Natural radioactivity. Organisms living on the planet either have to "power" their metabolism by staying close to geothermal areas such as underground "hot-spots" or by ingesting radionuclides to drive their biochemistry.
If the planet is larger than Earth it will, presumably, have higher gravity (although, as this is an assumption, will be dependent on the planet's density). Gravity will help make the soils compact. Because there is no Sun, it will be extremely cold. The soil will be more than compact it will be frozen sold into a cryogenic permafrost.
Deep subterranean lifeforms, that is organisms living kilometres deep in the earth, are known on our planet. There is an open question about whether those organism first evolved on the surface of the Earth and then migrated underground or whether they evolved down there in the first instance or it is combination of both. Deep life evolving down below and is then joined by migrants from above. The point is organism can exist deep underground. However, they are micro-organisms.
Not unsurprisingly, microbes do not need to drill their way through the earth. They infiltrate cracks, crevices, any gaps between particles of soil, and move very slowly. This is an extremely low-energy ecology. The organisms are capable of long periods of hibernation and inactivity. Their only feedstock is organic matter embedded in the matrix of soils and rocks and the presence of methane.
Multicellular organism do not exist at these depths. There isn't the available to support their existence. This is apart from the energy required to drill its way through compact soil.
A drilling organism will require more energy than any known animal on Earth to drive its body through compact soil. The soil on your hypothetical planet will be cryogenically solidified as well. There are no ready sources of energy on a sunless planet to provide the fuel needed for a drilling animal.
There is already a question that addresses the issues about an organism with rotational motion Sea creature moving via rotational motions. Although that only deals with marine organisms moving rotationally through a fluid medium. Moving through a solid medium is a completely different order of magnitude. The mechanics of its moving rotationally are trivial by comparison to the biological requirements for an organism to be able to move through solid matter.
The creature would need to have a drill-head composed of materials that are stronger than diamond. Admittedly the creature might gather the diamonds to fit them together to form its drill-head, but it would have to drill its way through the soil to gather the diamonds in the first place. A chicken and the egg problem.
Depending on the size and mass of the drilling animal, this will determine how much energy is required to propel it through solid matter. The bigger and more massive the animal the more biological energy will be required. The energy required to drill will be of orders of magnitude greater.
The drilling creature could be the biological equivalent of a subterrene. Let's start by considering the fictional subterrene.
Fictional subterrenes are often depicted as cylindrical in shape with conical drill heads at one or both ends, sometimes with some kind of tank-tread for propulsion, and described either as leaving an empty tunnel behind it, or as filling the space behind it with mining debris. The plausibility of such machines has declined with the advent of the real-world tunnel boring machines, which demonstrate the reality of the boring task. Tunnel boring machine themselves are not usually considered to be subterrenes, possibly because they lack the secondary attributes - mobility and independence - that are normally applied to vehicles.
That is the vision for fictional subterrenes, but this is what required for real-world subterrenes.
A real-world, mobile subterrene must work thermally, using very high temperature and immense pressure to melt and push through rock. The front of the machine is equipped with a stationary drill tip which is kept at 1,300–1,700 °F (700–930 °C). The molten rock is pushed around the edges as the vehicle is forced forward, and cools to a glass-like lining of the tunnel. Massive amounts of energy are required to heat the drill head, supplied via nuclear power or electricity. Patents issued in the 1970s1 indicate that U.S. scientists had planned to use nuclear power to liquefy lithium metal and circulate it to the front of the machine (drill). An onboard nuclear reactor can permit a truly independent subterrene, but cooling the reactor is a difficult problem.
It is extremely improbable that a nuclear-powered organism could evolve to extent that it develop into a biological drilling mechanism. Generally it can be considered that drilling animals are impossible. At least, not large sized multicellular organisms. This is a reductio ad absurdum type of answer where the requirements of what would it make work is pushed to its extremes to see why it wouldn't work.
However, it is possible to conceptually consider what sort of organism might be able to survive and move through compact might be. Subterranean micro-organisms are possible. They will be extremely exotic organisms, their biochemistry and metabolism will be radically different from Earth micro-organisms because its habitat is a cryogenic permafrost.
As said above, these organisms will either live in geological "hot-spots" or they will digest radioactive materials whose emissions will "power" their metabolisms. It is possible these creatures could exist in colonial forms, not just as individual microbes, and these colonies could seep and ooze their way through the interstices of the soil. Very slowly. Microbes may not be the most exciting lifeforms, but they are ninety percent of all life on this planet. Quite easily they could be one hundred percent of the life on your sunless planet.