A2D-directionofarrivalestimation(DOAE)formultiinputandmulti-output(MIMO)radarusingimprovedmultipletemporal-spatialsubspacesinestimatingsignalparametersviarotationalinvariancetechniquesmethod(TS-ESPRIT)isintroduced.InordertorealizetheimprovedTS-ESPRIT,theproposedalgorithmpidestheplanararrayintomultipleuniformsub-planararrayswithcommonreferencepointtogetaunifiedphaseshiftsmeasurementpointforallsub-arrays.TheTS-ESPRITisappliedtoeachsub-arrayseparately,andinthesametimewiththeotherstorealizetheparallellytemporalandspatialprocessing,sothatitreducesthenon-linearityeffectofmodelanddecreasesthecomputationaltime.Then,thetimedifferenceofarrival(TDOA)techniqueisappliedtocombinethemultiplesub-arraysinordertoformtheimprovedTS-ESPRIT.Itisfoundthattheproposedmethodachieveshighaccuracyatalowsignaltonoiseratio(SNR)withlowcomputationalcomplexity,leadingtoenhancementoftheestimatorsperformance.