This is the first paper of a series aimed at studying the structural and photometric properties in the optical band of a sample of 95 radio galaxies. Detailed surface photometry in the B and R bands is reported here for 29 objects. We give contour plots and complete structural (ellipticity, position angle, Fourier coefficients) and photometric profiles as a function of the major axis for each object. The integrated observed properties (isophotal and total magnitude, effective radius, etc.) as derived from detailed surface photometry, are reported. The relationship between effective radius R_e and surface brightness mu_e, and the properties of the immediate environment are discussed. Comments on all individual objects are also included.