To enable the safe integration of Unmanned Aircraft System (UAS) into the civil airspace, the European Aviation Safety Agency (EASA) has elaborated a new regulatory framework that is operation-centric and risk-based. Based on this principle, gaining authorization to conduct certain types of operations depends on a safety risk assessment. To harmonize this process, the Joint Authorities for Rulemaking on Unmanned Systems (JARUS) released a qualitative methodology called Specific Operation Risk Assessment (SORA). However, SORA is not a complete safety assessment tool since, in some cases, a quantitative risk analysis is still required. This work develops a probabilistic risk model that extends SORA to evaluate the ground risk and the air risk components along a specified UAS trajectory quantitatively. The proposed model is supplied with illustrative data and is validated in a representative UAS mission. In the future, the risk model will be exploited to develop a decision tool for determining the minimum-risk trajectory when multiple, alternative routes are available.