The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevitably affected by the obiter attitude jitter. Therefore, it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching. In this work, an imaging simulation method considering the attitude jitter is presented. The impact analysis of different attitude jitter on terrain undulation is conducted by simulating jitter at three attitude angles, respectively. The proposed simulation method is based on the rigorous sensor model, using the lunar digital elevation model (DEM) and orthoimage as reference data. The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter. Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit. Experimental analyses were conducted by the DEM with the simulated stereo image. The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping. The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through DEM comparison.