We investigate the half-Skyrmion excitations induced by spin-orbit coupling in the rotating and rapidly quenched spin-1 Bose-Einstein condensates. We give three expressions of the corresponding spin vectors to describe the half-Skyrmion. Our results show that the half-Skyrmion excitation depends on the combination of spin-orbit coupling and rotation, and it originates from a dipole structure of spin which is always embedded in three vortices constructed by each condensate component respectively. When both the strength of spin-orbit coupling and rotation frequency are larger than some critical values, the half-Skyrmions encircle the center with one or several circles to form a radial lattice, which occurs even in the strong ferromagnetic/antiferromagnetic condensates. We can use both the spin-orbit coupling and the rotation to adjust the radial lattice. The realization and the detection of the half-Skyrmions are compatible with current experimental technology.