The optical rotational Doppler effect of light beams with angular momentum has recently found applications in the remote sensing of spinning objects. However, most of the reported experimental demonstrations rely on the particular condition of normal incidence, while the general case of oblique incidence has not been addressed yet. Herein, we investigate the optical rotational Doppler effect at oblique incidence based on a local scattering model and formulate the quantitative relation between the Doppler frequency shift and the tilt angle. The analytic results indicate that even if the rotational axis of the spinning object is oriented at a specific tilt angle relative to the light propagation direction, the rotational speed can still be extracted from an asymmetrically broadened Doppler signal. The geometric mean value of the extreme frequency shift is a constant despite the variation of the incident angle. An experiment with obliquely incident and superimposed optical vortices is executed to verify our theoretical predictions, achieving a successful detection of the rotational speed at relatively large tilt angles with a relative error less than 2%. The scheme proposed in this study may be useful for practical applications of rotational Doppler effect in remote sensing and metrology.