Abstract: An algorithm for multi-target three-dimensional (3D) localization in bistatic Multiple-Input Multiple- Output (MIMO) radar system with uniform linear transmit array and L-shape receive array is presented. After forming a complex matrix based on ESPRIT, the receive angles of each target can be calculated from the imaginary part and real part of each eigenvalue of that complex matrix. Then the transmit angles of each target can be obtained by utilizing eigenvectors of that complex matrix and signal subspace. The receive angles and transmit angle can be paired automatically. The proposed method does not need to know the variance of noise, and the computed load is low. Simulation results verify that the method is more effective in the low SNR condition, and the mean square errors of estimated angles are close to the Cramer Rao bound.