An analytical solution of the dynamic response of offshore wind turbines under wave load with nonlinear Stokes’s wave theory and wave–structure and soil–foundation interactions is developed. Natural frequencies and the corresponding modes are obtained. The effect of the wave–structure interaction, the added mass, the foundation stiffness, and the nacelle translational and rotational inertia on the motion of the structure is investigated. The nonlinear loading provided by the drag term of Morison’s equation is successfully handled. A parametric study to examine the effect of the structural parameters on the dynamic response is conducted, and the results of the proposed analytical solution are compared to numerical ones. The proposed method has the following advantages: (a) it is accurate and straightforward because of its analytical nature, (b) it does not ignore the drag term in the wave loading by keeping its nonlinearity nature, (c) the structure of the wind turbine is modeled as a continuous system, (d) it takes into account the effect of the rotational and translational inertia of the nacelle on the dynamic response, and (e) it provides an interpretation of the effect of the sea level variation in changing the natural frequencies.