Petrophysical amplitude variation with offset (AVO) inversion, which combines a rock-physics model and prestack inversion, aims at effectively quantifying reservoir-property parameters from prestack seismic data. However, for a reservoir with complex pore structures, this approach may suffer from difficulties in rock-physics modeling, which hinders solving the relevant inverse problem. We have proposed a petrophysical AVO inversion method that considers the complex pore structures within reservoir rocks. The method integrates a differential effective medium model, the Gassmann equation, and the exact Zoeppritz equation as the forward operator. In particular, the pore complexity is addressed by favoring the spatial variation of pore type. Differing from conventional sequential inversion methods, the pore-type variation is introduced by updating the aspect ratio together with the reservoir parameters during the inversion process. To enhance the stability of the results, the estimation of aspect ratio and reservoir parameters is jointly conditioned to seismic and elastic data under a Bayesian framework, which leads to the objective function with joint data misfit terms. The objective function is optimized with a simulated annealing algorithm that includes the full nonlinearity of the forward operator. The proposed method is demonstrated by testing and applying on a carbonate reservoir. It generally outperforms methods that are either purely conditioned on the seismic data or based on a constant aspect ratio.