Rotational spectroscopy plays a major role in the field of observational astrochemistry, enabling the detection of more than 200 species including a plethora of complex organic molecules in different space environments. Those line detections allow correctly determining the sources and physical properties, as well as exploring their morphology, evolutionary stage, and chemical evolution pathways. In this context, quantum chemistry is a powerful tool to the investigation of the molecular inventory of astrophysical environments, guiding laboratory experiments and assisting in both line assignments and extrapolation of the experimental data to unexplored frequency ranges. In the present work, we start by briefly reviewing the rotational model Hamiltonian for asymmetric tops beyond the rigid-rotor approximation, including rotational-vibrational, centrifugal, and anharmonic effects. Then, aiming at further contributing to the recording and analysis of laboratory microwave spectroscopy by means of accessible, less demanding quantum chemical methods, we performed density functional theory (DFT) calculations of the spectroscopic parameters of astrochemically relevant species, followed by their rotational spectrum simulations. Furthermore, dispersion-correction effects combined with different functionals were also investigated. Case studies are the asymmetric tops H 2 CO, H 2 CS, c-HCOOH, t-HCOOH, and HNCO. Spectroscopic parameter predictions were overall very close to experiment, with mean percentage errors smaller than 1% for zeroth order and ∼ 5% for first-order constants. We discuss the implications and impacts of those constants on spectrum simulations, and compare line-frequency predictions at millimeter wavelengths. Moreover, theoretical spectroscopic parameters of c-HCOOH and HNCO are introduced for the first time in this work.