Rydberg atom-based RF sensors offer distinct advantages over conventional dipole antennas for electric field detection. This paper presents a system model and performance analysis of a Rydberg atom-based quantum radar, which employs optical readout via lasers and photon detectors instead of circuit-based receivers. We derive the signal-to-noise ratio (SNR), compare it with classical radar, and estimate Doppler frequency using an invariant function-based method. Simulations show that the quantum radar achieves higher SNR and lower RMSE in velocity estimation than conventional radar.