<p>This work presents an analytical investigation of the curved domain wall dynamics in a bilayer nanostructure composed of a nonmagnetic heavy metal layer and a ferromagnetic layer, using the modified Landau–Lifshitz–Gilbert equation with inertial effects. More precisely, the work describes the behavior of curved domain wall dynamics in the steady-state regime for metallic and semiconductor ferromagnets under the simultaneous action of dry-friction dissipation, spin–orbit torque, and inertial effects. By applying the reductive perturbation approach, we characterize the steady domain wall motion and derive an analytical expression of the steady domain wall velocity that depends on the mean curvature of domain wall surfaces, dry-friction coefficient, spin-polarized electric current, Rashba parameter, spin–Hall angle, and applied magnetic field. Finally, we numerically illustrate the analytical results derived for considered domain wall surfaces with constant curvature, namely flat, spherical, and cylindrical. The results presented here are in significant qualitative agreement with recent observations.</p>