An analytical approach is adopted to investigate Rayleigh waves in a layered composite structure with corrugated boundaries. The structure of the model has been taken in such a way that the pre-stressed piezoelectric layer with rotation is lying over a pre-stressed, rotating, gravitational orthotropic substrate. The frequency equations of the considered wave have been obtained in the form of a determinant for both electrically open and short cases. Notable effects of various parameters (piezoelectric constant, initial stress, rotation, undulation parameter and position parameter) on Rayleigh wave velocity have been observed. Numerical computation and graphical demonstration have been carried out. The obtained results are matched with existing results, under certain conditions. Also, the analytical solution of the problem is matched and found in good agreement with the solution obtained by the finite element method. The outcomes are widely useful for the development and characterization of rotation sensors and SAW devices.