We propose a new analytical model of range-Doppler image of cylinders and cones rotating around their axes. This analytical model can manifest the contribution of geometric parameters, roughness of the surface, and attitude as well as pulse duration to range-Doppler image. This analytical model degenerates into the analytical model of Doppler spectra for plane waves. The influence of geometric parameters, roughness of the surface, and attitude as well as pulse duration are analyzed numerically by applying the analytical model. Combining the theory and measurements, the analytical model can be used for parameter identification of cylinders and cones. This analytical solution may contribute to laser Doppler velocimetry and ladar applications.