In ballistic missile defense, using precession parameters is an effective way to determine warheads from decoys. Due to the geometric theory of diffraction, the backscattered field from a smooth object for a microwave radar consists of contributions from only isolated scattering centers. Further, thanks to the short wavelength of the laser, the ladar could obtain complete Doppler information of illuminated parts of precessing targets. On the basis of modeling the observation geometry of a rotating target with precession, a novel method for extracting precession parameters using coherent ladar based on a Doppler frequency profile (DFP) of dual-view observation is first proposed, to the best of our knowledge. By analyzing the periodic changes of bandwidth of a cone-shaped precessing object, we indicate that the sequence of DFP bandwidth can be approximate to a sinusoid function, based on which the precession period can be obtained through sinusoidal fitting. The precession angle can be obtained by combining dual-aspect receiving observation. A laboratory experiment verified the effectiveness of the proposed algorithm, and the errors of extracted parameters are about 10%.