The characterisation of buried radioactive wastes is challenging because they are not readily accessible.~Therefore, this study reports on the development of a method for integrating ground-penetrating radar (GPR) and gamma-ray detector measurements for nonintrusive characterisation of buried radioactive objects. The method makes use of the density relationship between soil permittivity models and the flux measured by gamma ray detectors to estimate the soil density, depth and radius of a disk-shaped buried radioactive object simultaneously. The method was validated using numerical simulations with experimentally-validated gamma-ray detector and GPR antenna models.~The results showed that the method can simultaneously retrieve the soil density, depth and radius of disk-shaped radioactive objects buried in soil of varying conditions with a relative error of less than 10%. This result will enable the development of an integrated GPR and gamma ray detector tool for rapid characterisation of buried radioactive objects encountered during monitoring and decontamination of nuclear sites and facilities.