The desorption of excited rubidium (Rb) atoms off the surface of helium (He) nanodroplets is studied in detail using femtosecond time-resolved photoion and photoelectron imaging spectroscopy in combination with quantum wave packet simulations. The good agreement of the measured time-dependent velocity distributions with the simulation when exciting the Rb dopant atoms into the 6p-state supports the pseudo-diatomic model (PDM) for the Rb-He droplet interaction, even on the level of quantum wave packet dynamics. Time-resolved photoelectron spectra reveal the partitioning of excitation energy into the dopant and the droplet degrees of freedom.