The loss rate of cold atoms in a trap due to residual gas collisions differs from that in a free state after the cold atoms are released from the trap. In this paper, the loss rate in a cold rubidium-87 atom cloud was measured in a magneto-optical trap (MOT) and during its free flight. The residual gas pressure was analyzed by a residual gas analyzer, and the pressure distribution in a vacuum chamber was numerically calculated by the angular coefficient method. The decay factor, which describes the decay behavior of cold atoms due to residual gas collisions during a free flight, was calculated. It was found that the decay factor agrees well with theoretical predictions under various vacuum conditions.