The derivation of estimation lower bounds is paramount to designing and assessing the performance of new estimators. A lot of effort has been devoted to the range-velocity estimation problem, a fundamental stage on several applications, but very few works deal with acceleration, being a key aspect in high dynamics applications. Considering a generic band-limited signal formulation, we derive a new general compact form Cramér–Rao lower bound (CRB) expression for joint time-delay, Doppler stretch, and acceleration estimation. This generalizes and expands upon known delay/Doppler estimation CRB results for both wideband and narrowband signals. This new formulation, especially easy to use, is created based on baseband signal samples, making it valid for a variety of remote sensors. The new CRB expressions are illustrated and validated with representative GPS L1 C/A and linear frequency modulated chirp band-limited signals. The mean-square error of a misspecified estimator (conventional delay/Doppler) is compared with the derived bound. The comparison indicates that for some acceleration ranges the misspecified estimator outperforms a well-specified estimator that accounts for acceleration.