The collision of particles influences the behavior of suspensions through the formation of aggregates for adhesive particles or through the contributions of solid-body contacts to the stress for nonadhesive particles. The simplest estimate of the collision rate, termed the ideal collision rate, is obtained when particles translate and rotate with the flow but have no hydrodynamic or colloidal interactions. Smoluchowski calculated the ideal collision frequency of spherical particles in 1917. So far, little work has been done to understand rate of collision for nonspherical particles. In this work, we calculate the ideal collision rate for cylindrical particles over a broad range of particle aspect ratios r defined as the ratio of length to diameter. Monte Carlo simulations are performed with initial relative positions and orientations that model the rate of approach of noninteracting particles following Jeffery orbits with several choices of the orbit distribution. The role of rotational motion of particles on collision frequency is elucidated by comparing the ideal collision rate calculations with similar calculations for nonrotating particles. It is shown that the ratio of the collision rate of cylinders to that of spheres that circumscribe the cylinders is proportional to 1/rr(e) for r >> 1 and r(e) for r << 1. Here, r(e) is the effective aspect ratio defined as the aspect ratio of a spheroid having the same period of rotation as the cylinder. The effective aspect ratio of the cylindrical particles was determined using finite element calculations of the torque on nonrotating cylinders with their axes parallel to the velocity and velocity gradient directions. In addition to deriving the total collision rate, we categorize collisions as side side, edge side, and face edge based on the initial point of contact. Most collisions are found to be side edge for r >> 1 and face edge for r << 1, suggesting that nonlinear aggregates will develop if particles stick at the point of first contact.