Prestack seismic inversion methods adopt approximations of the Zoeppritz equations to describe the relation between reflection coefficients and P-wave velocity, S-wave velocity, and density. However, the error in these approximations increases with increasing angle of incidence and variation of the elastic parameters, which increases the number of inversion solutions and minimizes the inversion accuracy. In this study, we explore a method for solving the reflection coefficients by using the Zoeppritz equations. To increase the accuracy of prestack inversion, the simultaneous inversion of P-wave velocity, S-wave velocity, and density by using prestack large-angle seismic data is proposed based on generalized linear inversion theory. Moreover, we reduce the ill posedness and increase the convergence of prestack inversion by using the regularization constraint damping factor and the conjugate gradient algorithm. The proposed prestack inversion method uses prestack large-angle seismic data to obtain accurate seismic elastic parameters that conform to prestack seismic data and are consistent with logging data from wells.