Based on the native-Eng. website below (text via Bristol Univ.), with refs to French and Spanish cave drawings. Engraving & engraved occur often; carving once, in a caption. (this isn't to quibble with 'petroglyph' - although 'engraving' accords to the 'Ritz-' element, and petroglyph is a larger category. Browsing for <palaeolithic+drawing> is quite promising. M.L. Apelt, German-Eng. Dict.: Art History - Archaeology (Berlin: Erich Schmidt Vlg., 1982, offers 'incised picture, scratched picture' for RitzBILD. But it's a small dictionary for a period from present to prehistory.
INTAGLIO (more at home in printmaking, but not only) is incised-line work. Very generally, INCISED and CARVED would't be amiss. Wikipedia has 'incised' under the heading 'Themes and Patterns' (2nd www ref below)