In this paper, a synthetic aperture radar (SAR) approach, for imaging internal structures of generally lossy layered dielectric cylindrical objects, is presented. This method which properly accounts for different transmission and refraction path at each boundary between different layers, produces a properly focused image of embedded targets. This approach is also capable of addressing imaging needs for asymmetrical multi-layered cylindrical bodies. Consequently, this approach overcomes the limitation associated with the conventional methodology, in which free-space propagation is assumed. The calculation method of angular sampling criterion for circular and cylindrical SAR (i.e., circumferential and in height) are also presented. Electromagnetic simulations are performed on a threelayer cylindrical object, symmetrical and asymmetrical, with embedded targets to validate the approach. In addition, representative measurements are conducted at Xband (8.2-12.4 GHz) demonstrating the effectiveness of the approach for practical nondestructive evaluation applications.