Due to the significant difference between the experimental measurements and the theoretical predictions of standard model (SM) for the value of $\mathcal{R}(D)$ of the semileptonic decay $B\to D\ell\bar{\nu}_{\ell}$, people speculate that it may be the evidence of new physics beyond the SM. Usually, the $D$-meson twist-2, 3 distribution amplitudes (DAs) $\phi_{2;D}(x,\mu)$, $\phi_{3;D}^p(x,\mu)$ and $\phi_{3;D}^\sigma(x,\mu)$ are the main error sources when using perturbative QCD factorization and light-cone QCD sum rules to study $B\to D\ell\bar{\nu}_{\ell}$. Therefore, it is important to get more reasonable and accurate behaviors for those DAs. Motivated by our previous work [Phys. Rev. D 104, no.1, 016021 (2021)] on pionic leading-twist DA, we revisit $D$-meson twist-2, 3 DAs $\phi_{2;D}(x,\mu)$, $\phi_{3;D}^p(x,\mu)$ and $\phi_{3;D}^\sigma(x,\mu)$. New sum rules formulae for the $\xi$-moments of these three DAs are suggested to obtain more accurate values. The light-cone harmonic oscillator models for those DAs are improved, and whose model parameters are determined by fitting the values of $\xi$-moments with the least squares method. Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI. Article funded by SCOAP3 and published under licence by Chinese Physical Society and the Institute of High Energy Physics of the Chinese Academy of Science and the Institute of Modern Physics of the Chinese Academy of Sciences and IOP Publishing Ltd.