Photoacoustic imaging (PAI) combines the advantage of optical and ultrasonic imaging, which have a high signal-to-noise ratio, penetration depth, and spatial resolution. To further improve the performance of PAI, gold nanorods (AuNRs) can be utilized as exogenous contrast agents. Therefore, in the present work, the photoacoustic properties of AuNRs in an aqueous solution in the near-infrared region are studied by the finite element method. The effects of different factors including orientation of AuNRs, incident laser wavelength, aspect ratio, and equivalent radius on the absorption efficiency, photothermal response, photoacoustic response, and the photoacoustic conversion efficiency of AuNRs are analyzed. Results show that the photoacoustic properties of AuNRs are highly related to their absorption efficiency which alters with the orientation of AuNRs and wavelength of the incident light. Moreover, the aspect ratio and equivalent radius significantly influence the heat transfer characteristics of AuNRs, which further leads to a variation of the photothermal response, photoacoustic response, and photoacoustic conversion efficiency of the AuNRs. Finally, we provide strategies to improve the photoacoustic signal of AuNRs at specific wavelengths. The structure of AuNRs at 808 nm and 1064 nm is optimized, and the size of AuNRs, which can obtain the maximum photoacoustic signal is obtained theoretically. Meanwhile, considering that it is difficult to achieve uniform size when synthesizing nanorods, the size range of nanorods with a photoacoustic efficiency threshold of 95% is given.