The evaluation of geometric calibration accuracy of high resolution satellite images has been increasingly recognized in recent years. In order to evaluate geometric accuracy for dual-camera satellite images based on the ground control points (GCP), a rigorous geometric imaging model, which was based on the collinear equation of the probe directional angle and the optimized tri-axial attitude determination (TRIAD) algorithm, is presented. Two reliable test fields in Tianjin and Jinan (China) were utilized for geometric accuracy validation of Pakistan Remote Sensing Satellite-1. The experimental results demonstrate a certain deviation of the on-orbit calibration result from the initial design values of the calibration parameters. Therefore, on-orbit geometric calibration is necessary for optical satellite imagery. Within this research, the geometrical performances including positioning accuracy without/with GCP and band registration of the dual-camera satellite were analyzed in detail, and the results of geometric image quality are assessed and discussed. As a result, it is feasible and necessary to establish such a geometric calibration model to evaluate the geometric quality of dual-camera satellite.