Finding the distance of an object in a scene from intensity images is an essential problem in many applications. In this work, we present a novel method for depth recovery from a single motion and defocus blurred image. Under the assumption of uniform lateral motion of the camera during finite exposure time, both the pinhole model and the camera with a finite aperture are considered. It is shown that the image blur produced by uniform linear motion of the camera is inversely proportional to the distance of the object. Furthermore, if the speed of the relative motion is known, the depth of the object can be acquired by identifying the blur parameters. An image blur model is formulated based on geometric optics. The blur extent is estimated by intensity profile analysis and focus measurement of the deblurred images. The proposed method is verified experimentally using different types of test patterns in an indoor environment.