The invention discloses a DOA (direction of arrival) estimation method based on a nested minimum redundant array, and mainly solves the problem of low DOA estimation resolution when the number of targets is greater than the number of array elements in the prior art. An implementation process of the method comprises the following steps: 1, giving a total array element number to built a nested minimum redundant array (NMRA), 2, obtaining received data X(t) of the NMRA according to the NMRA, 3, estimating a covariance matrix R<XX> of the NMRA according to the X(t), vectorizing the R<XX>, removing repeated elements, and then obtaining differential synthesis array received data Z<c>, 4, dividing Z<c> into a plurality of sub array received data, calculating a covariance matrix of each sub array received data, performing forward and backward smooth average, and then obtaining rank recovery data covariance matrix R<SS>, and 5, performing eigenvalue decomposition on the R<SS>, and then obtaining a DOA estimation angle. The method has the advantages of the large aperture, the high degree of freedom and good DOA estimation angle measurement performance in the same condition, and can be applied to radar target signal detection or power estimation.