A new inverse synthetic aperture radar (ISAR) imaging approach is presented for application in situations where the maneuverability of noncooperative target is not too severe and the Doppler variation of subechoes from scatterers can be approximated as a first-order polynomial. The proposed algorithm is referred to as the range centroid Doppler (RCD) ISAR imaging technique and is based on the stretch Keystone-Wigner transform (SKWT). The SKWT introduces a stretch weight factor containing a range of chirp rate into the autocorrelation function of each cross-range profile and uses a 1-D interpolation of the phase history which we call stretch keystone formatting. The processing simultaneously eliminates the effects of linear frequency migration for all signal components regardless of their unknown chirp rate in time-frequency plane, but not for the noise or for the cross terms. By utilizing this novel technique, clear ISAR imaging can be achieved for maneuvering targets without an exhaustive search procedure for the motion parameters. Performance comparison is carried out to evaluate the improvement of the RCD technique versus other methods such as the conventional range Doppler (RD) technique, the range instantaneous Doppler (RID) technique, and adaptive joint time-frequency (AJTF) technique. Examples provided demonstrate the effectiveness of the RCD technique with both simulated and experimental ISAR data.