Several exoplanets have been discovered to date, and the next step is the search for extraterrestrial life. However, it is difficult to estimate the number of life-bearing exoplanets because our only template is based on life on Earth. In this paper, a new approach is introduced to estimate the probability that life on Earth has survived from birth to the present based on its terrestrial extinction history. A histogram of the extinction intensity during the Phanerozoic Eon is modeled effectively with a log-normal function, supporting the idea that terrestrial extinction is a random multiplicative process. Assuming that the fitted function is a probability density function of extinction intensity per unit time, the estimated survival probability of life on Earth is ~0.15 from the beginning of life to the present. This value can be a constraint on $f_i$ in the Drake equation, which contributes to estimating the number of life-bearing exoplanets.
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