Rock-physics amplitude-variation-with-offset (AVO) inversion aims at directly predicting reservoir properties from prestack seismic data. However, carbonate reservoir rocks often develop complex pore structures, which limits the application of conventional inversion methods with fixed pore-geometry parameters. We derive a PP-wave reflectivity equation in terms of porosity, water saturation, and pore-aspect ratio and we develop a rock-physics AVO inversion method to jointly estimate the petrophysical and pore-geometry parameters in carbonates. The reflectivity equation is obtained by linearizing the rock-physics model based on the differential effective medium model and Gassmann’s equation using Taylor series approximation, and we combine the linearization with the Aki-Richards equation. Thanks to the linearized model, the analytical solution to the inverse problem is derived using Bayesian linear theory. Our solution combines simulated annealing to estimate the prior information of the pore geometry and the iterative Bayesian inversion to update the posterior model. The method is tested on a benchmark data set and compared with conventional methods with a fixed aspect ratio. The results show that our method improves the petrophysical results. The method is also compared with two-step and nonlinear inversion methods to demonstrate its advantages. The method is applied to a field seismic section from a carbonate reservoir with a complex pore structure to demonstrate its advantages in terms of prediction accuracy.