The invention provides a low-complexity receiving and transmitting angle joint estimation method for non-circular signal double-base MIMO radar. Firstly, observation data are extended according to the non-circular characteristic of received signals of the MIMO radar, and a virtual array element of the MIMO radar is amplified by one time. Secondarily, the observation data are divided into two orthogonal portions according to the front-to-back recursion formula of multi-stage Wiener filtering, the two orthogonal portions serve as desired signals of a next stage of multi-stage Wiener filtering and observation data vectors respectively, and then a new signal subspace and a new noise space are formed through pre-filtering matrixes. Finally, the target transmission angle DOD is estimated according to the extended ESPRIT, the target reception angle DOA is estimated according to the estimated value of the DOD and the non-circular ROOTMUSIC technology, and two-dimension parameters of the DOD and two-dimension parameters of the DOA are automatically paired to obtain the target transmission angles, relative to the transmission end, of many targets and target reception angles, relative to the reception end, of the targets. According to the method, the virtual aperture of the MIMO radar is increased according to the non-circular signal characteristic, maximization of the recognized targets is achieved, the algorithm complexity is low, and additional pairing processes are not needed.