The invention discloses an OFDM (Orthogonal Frequency Division Multiplexing) underwater acoustic communication method with high spectral efficiency under a time-varying double-spread channel condition, and belongs to the technical field of underwater acoustic communication. The method comprises the following steps: carrying out band-pass filtering on a received signal r (k), carrying out front-endprocessing such as ADC (Analog to Digital Converter) conversion into a digital signal, carrying out down-conversion and low-pass filtering, estimating average Doppler by utilizing a fuzzy function method, carrying out resampling and frequency correction, multiplexing the signal, carrying out time domain equalization and frequency domain equalization, carrying out diversity combination, and then adopting the OMP-DCD algorithm to perform residual Doppler compensation. an iterative signal processing technology is adopted, an LDPC decoder and an equalizer are cascaded through soft-in soft-out mapping/demapping and an interleaver/deinterleaver, close information interaction is achieved in the two modules, soft information transmitted in a reciprocating mode is fully utilized, and interferenceof a time-varying double-spread channel is effectively resisted. According to the method, the complexity and the performance can be well compromised, and serious inter-symbol interference, inter-carrier interference and pilot frequency-pilot frequency interference in the transmission process are efficiently solved. And the method is low in complexity and can be realized on the DSP in real time.