A three-dimensional mathematical hydrodynamic model associated with surface wave radiation by a floating rectangular box-type structure due to heave, sway, and roll motions in finite water depth is investigated based on small amplitude water wave theory and linear structural response. The analytical expressions for the radiation potentials, wave forces, and hydrodynamic coefficients are presented based on matched eigenfunction expansion method (MEFEM). The correctness of the analytical results of wave forces is compared with the construction of a numerical model using the open-source boundary element method code NEMOH. In addition, the present result is compared with the existing published experimental results available in the literature. The effects of the different design parameters on the floating box-type rectangular structure are studied by analyzing the vertical wave force, horizontal wave force, torque, added mass, and damping coefficients due to the heave, sway, and roll motions, and the comparison analysis between the forces is also analyzed in detail. Further, the effect of reflection and transmission coefficients by varying the structural width and drafts are analyzed.