This paper introduces a new model for delay/Doppler altimetry, taking into account the effect of antenna mispointing. After defining the proposed model, the effect of the antenna mispointing on the altimetric waveform is analyzed as a function of along-track and across-track angles. Two least squares approaches are investigated for estimating the parameters associated with the proposed model. The first algorithm estimates four parameters including the across-track mispointing (which affects the echo's shape). The second algorithm uses the mispointing angles provided by the star-trackers and estimates the three remaining parameters. The proposed model and algorithms are validated via simulations conducted on both synthetic and real data.