As a structured beam exhibiting a spiral phase and an orbital angular momentum, the Doppler effect of an optical vortex possesses a frequency shift component caused by the relative motion that is perpendicular to the beam cross-section compared with the Doppler effect of the classical plane beam. In this study, a velocity-Poynting vector model and a phase modulation model are established to study the linear and rotational Doppler effects of optical vortex, obtaining the generation law of Doppler frequency shift of the vortex light under compound motion. Moreover, these two models are used to analyze the Doppler frequency shift on the surface of the cylinder, which is a typical spatial moving target. The same results are obtained, proving the correctness of the proposed theoretical analysis method. The distribution law of the frequency shift of the rotating cylinder detected through vortex light is proposed herein, and the influence of different optical vortex radii and cylinder sizes on the detection results is explored.