Delay/Doppler altimetry aims at reducing the measurementnoise and increasing the along-track resolution in comparison with conventional pulse limited altimetry. In a previous paper, we have proposed a semi-analytical model for delay/Doppler altimetry which considers some simplifications as the absence of mispointing antenna. This paper first proposes a new semi-analytical model for delay/Doppler altimetry. The proposed analytical expression for the flat surface impulse response considers antenna mispointing angles, a circular antenna pattern, no vertical speed effect and a uniform scattering. The two dimensional delay/Doppler map is obtained by a numerical computation of the convolution between the proposed analytical function, the probability density function of the heights of the specular scatterers and the time/frequency point target response of the radar. The approximations used to obtain the semi-analytical model are analyzed and the associated errors are quantified by analytical bounds for these errors. The second contribution of this paper concerns the estimation of the parameters associated with the multi-look semi-analytical model. Two estimation strategies based on the least squares procedure are proposed. The proposed model and algorithms are validated on both synthetic and real waveforms. The obtained results are very promising and show the accuracy of this generalized model with respect to the previous model assuming zero antenna mispointing.