The velocity distribution of dark matter near the Earth is important for an accurate analysis of the signals in terrestrial detectors. This distribution is typically extracted from numerical simulations. Here we address the possibility of deriving the velocity distribution function analytically. We derive a differential equation which is a function of radius and the radial component of the velocity. Under various assumptions this can be solved, and we compare the solution with the results from controlled numerical simulations. Our findings complement the previously derived tangential velocity distribution. We hereby demonstrate that the entire distribution function, below 0.7 v_esc, can be derived analytically for spherical and equilibrated dark matter structures.