Frequencies of H2O pure rotational transitions from 0.5 to 5 THz have been measured with an accuracy of one part in 10(8) using a tunable far-infrared spectrometer. Measured frequencies of more than a hundred spectral lines provide an excellent wavelength and frequency calibration standard for the far-infrared. A set of molecular parameters based on a Watson-type Hamiltonian has been obtained to reproduce the observed frequencies.