A new ESPRIT (Estimating Signal Via Rotational Invariance Techniques) algorithm is proposed to estimate the joint DOD (Direction Of Departure), DOA (Direction Of Arrival) and Doppler frequency based on the second extension of degree of freedom in the time and space domain under the conditions of non-uniform configurations of transmitter-receiver arrays and multiple delays for bistatic MIMO radar. Firstly, based on the special characteristic of direction vector in MIMO radar, the second extension of degree of freedom both in the time and space domains is attained by performing the twice row permutations on the received data and deleting the redundant items operations. Then, the ESPRIT algorithm is utilized to estimate the DOD, DOA, and Doppler frequency after performing the temporal-spatial “smoothing window” processing to the new data. The simulation shows that when the same number of real elements is used in time and space domain, the parameter estimation performance of the proposed algorithm is better than those of the quadrilinear decomposition and multi-dimension ESPRIT algorithms. Moreover, by using of the minimum redundancy configuration, the redundant information in the arrays decreases and hence the requirements of the array elements and the delay device are reduced, so it is more convenient to the practical application.