We investigate the stationary vortex solutions in two-dimensional (2D) Rashba spin-orbit (SO) coupled spin-1 Bose-Einstein condensate (BEC). By introducing the generalized momentum operator, the linear version of the system can be solved exactly and its solutions are a set of the Bessel vortices. Based on the linear version solutions, the stationary vortex solutions of the full nonlinear system are constructed and determined entirely by the variational approximation. The results show that the variational results are in good agreement with the numerical ones. By means of the variational results, the vortex ground state phase-transition between the stationary vortex solutions, stability, and the unit Bloch vector textures are discussed in detail. The results have the potential to be realized in experiment.