Conventional beam-center approximation-based motion compensation (MOCO) algorithms fail to achieve an optimally focused image in the case of the high-resolution and high-frequency (HRHF) synthetic aperture radar (SAR) system. In this letter, a novel MOCO algorithm based on Doppler adjustment is developed with the ability to compensate the azimuth variant motion error. The change of the Doppler spectrum caused by the azimuth variant motion error is investigated and is eliminated by Doppler scaling. The proposed MOCO algorithm has dramatically improved precision when compared with the conventional MOCO methods in HRHF SAR imaging. Simulation experiments and extensive comparisons with other MOCO algorithms verify the effectiveness of the proposed algorithm.