The analysis of high-frequency wave propagation in arbitrarily shaped waveguides requires specific numerical methods. A widely spread technique is the so-called semi-analytical finite element (SAFE) formulation. This formulation enables to account for the translational invariance of waveguide problems and leads to a two-dimensional modal problem reduced on the cross-section. Despite this, solving the problem can still be computationally demanding. In order to further reduce the size of the modal problem, this paper presents a SAFE method for waveguides of rotationally symmetric cross-sections. Such structures are encountered in many applications. Typical examples are bars of circular cross-section, regular polygons, and multiwire cables. Numerical results show that the computational effort required for solving the SAFE modal problem is tremendously reduced by accounting for rotational symmetry.