We study theoretically the Ruderman-Kittel-Kasuya-Yosida (RKKY) interaction in one- and two-dimensions in presence of a Rashba spin-orbit (SO) coupling. We show that rotation of the spin of conduction electrons due to SO coupling causes a twisted RKKY interaction between localized spins which consists of three different terms: Heisenberg, Dzyaloshinsky-Moriya, and Ising interactions. We also show that the effective spin Hamiltonian reduces to the usual RKKY interaction Hamiltonian in the twisted spin space where the spin quantization axis of one localized spin is rotated.