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Moho determination is an important issue in studying the Earth's interior structure. In accordance with the isostasy-compensation hypothesis in geodesy, it is possible to recover regional or global Moho by employing gravimetric data. The nonlinear property is one of the main difficulties in solving the inverse problem of isostasy. To effectively address this issue, we propose an improved iterative inversion method that combines 3-D integration and linear regularization to achieve an approximate nonlinear solution. To estimate the contributions of different components in the gravity-gradient tensor from the Gravity field and steady-state Ocean Circulation Explorer (GOCE), other than the vertical component, we additionally develop two joint inversion scenarios that utilize diagonal horizontal components and all five non-vertical components. The validating experiments are implemented in Qinghai–Tibet Plateau and its near zone. Simulations and applications illustrate that horizontal responses of Moho undulation are also significant. Yet the off-diagonal components provide minimal contributions, adding only 0.25 km of bias to the joint inversion results. Truncation effects serve as the primary source of systematic errors, resulting in ∼1 km error in vertical inversion results and ∼2.3 km error in joint inversion results. Then, the gravimetric Moho results are compared with CRUST1.0, and they show a generally strong correlation. Differences are obvious at the northern and eastern margins of the plateau. It is maybe due to the local changes in crust–mantle density contrasts. Upwelling of asthenospheric materials and fluid flow in the middle-lower crust are the two main factors. Based on high-precision satellite gravimetry, our study could provide new insights into the tectonic structure of Qinghai–Tibet Plateau. [ABSTRACT FROM AUTHOR]