With the rapid development of high-resolution synthetic aperture radar (SAR) systems, the technique that utilizes multiple two-dimensional (2-D) SAR images with different view angles to extract three-dimensional (3-D) coordinates of targets has gained wide concern in recent years. Unlike the traditional multi-channel SAR utilized for 3-D coordinate extraction, the single-channel curvilinear SAR (CLSAR) has the advantages of large variation of view angle, requiring fewer acquisition data, and lower device cost. However, due to the complex aerodynamic configuration and flight characteristics, important issues should be considered, including the mathematical model establishment, imaging geometry analysis, and high-precision extraction model design. In this paper, to address these challenges, a 3-D vector model of CLSAR was presented and the imaging geometries under different view angles were analyzed. Then, a novel 3-D coordinate extraction approach based on radargrammetry was proposed, in which the unique property of the SAR system, called cylindrical symmetry, was utilized to establish a novel extraction model. Compared with the conventional approach, the proposed one has fewer constraints on the trajectory of radar platform, requires fewer model parameters, and can obtain higher extraction accuracy without the assistance of extra ground control points (GCPs). Numerical results using simulated data demonstrated the effectiveness of the proposed approach.