In contrast to either considering structures with full degrees of freedom but with wave force on mooring lines neglected or with wave scattering and radiation neglected, in this paper, a new analytic solution is presented for wave interaction with moored structures of full degrees of freedom and with wave forces acting on mooring lines considered. The linear potential wave theory is applied to solve the wave problem. The wave fields are expressed as superposition of scattering and radiation waves. Wave forces acting on the mooring lines are calculated using the Morison equation with relative motions. A coupling formulation among water waves, underwater floating structure, and mooring lines are presented. The principle of energy conservation, as well as numerical results, are used to verify the present solution. With complete considerations of interactions among waves and moored structures, the characteristics of motions of the structure, the wave fields, and the wave forces acting on the mooring lines are investigated.