Measurements of time delay and Doppler frequency are reported for asteroid-radar echoes obtained at Arecibo and Goldstone during 1980-1990. Radar astrometry is presented for 23 near-earth asteroids and three mainbelt asteroids. These measurements, which are orthogonal to optical, angular-position measurements, and typically have a fractional precision between 10 to the -5th and 10 to the -8th, permit significant improvement in estimates of orbits and hence in the accuracy of prediction ephemerides. Estimates are also reported of radar cross-section and circular polarization ratio for all asteroids observed astrometrically during 1980-1990.