We present EVN observations of seven BL Lac objects selected from the RGB sample. To investigate the intrinsic radiation property of BL Lac objects, we estimated the Doppler factor with the VLA or MERLIN core and the total 408MHz luminosity for a sample of 170 BL Lac objects. The intrinsic (comoving) synchrotron peak frequency was then calculated by using the estimated Doppler factor. Assuming a Lorentz factor of 5, the viewing angle of jets was constrained. The high-resolution VLBI images of seven sources all show a core-jet structure. We estimated the proper motions of three sources with the VLBI archive data, and find that the apparent speed increases with the distance of components to the core for all of them.