For a rotational relativistic Birkhoff system, the relation between theform invariance and the Lie symmetries are given under infinitesimaltransformations of groups. If the infinitesimal transformationgenerators ξ0 and ξµ satisfy the conditions of the forminvariance, and the determining equation of Lie symmetries holds, theform invariance leads to a Lie symmetry of the system. Furthermore, ifthe infinitesimal transformations generators ξ0 and ξµsatisfy the conditions of the form invariance and the determiningequation of Lie symmetry holds, and if there is a gauge function Gsatisfying the structure equation of Lie symmetry, then the forminvariance will lead to the Lie symmetrical conserved quantity of thesystem. An example is given to illustrate the application of the results.