In this paper, millimeter-wave radar cross section (RCS) characteristics for rough surface is investigated by means of an approximation method of the magnetic field integral equation and the feasibility of road condition sensing is discussed. The RCS measurement at 94 GHz is carried out in order to verify the numerical result, thereby the numerical results are in good agreement with the measured RCS. The dependence of RCS on the radar incidence angle and surface roughness is investigated where the cross-polarized RCS characteristic is also considered.