A method to predict the effects of rotor icing on the flight characteristics of a UH-60A helicopter is presented. By considering both natural ice shedding and different types of ice accretion due to local temperature variations on the blade surface, an improved rotor icing model was developed. Next, the effects of icing on rotor force, torque and flapping were incorporated in a nonlinear helicopter dynamic model. Based upon icing design envelopes in cumuliform clouds, trim and stability characteristics were studied. Further development of the helicopter state-space model allowed control and handling qualities characteristics to be investigated with variation of the three icing-related cloud variables (atmospheric temperature, liquid water content, and median volumetric diameter). Results indicated that this method of evaluating rotorcraft icing is both feasible and useful.