A new algorithm for direction of arrival (DOA) of coherent signals using joint diagonalization was proposed. A set of higher-order cumulant matrices were first devised, the generalized array manifold matrix was then estimated using the technology of joint diagonalization. Finally, permutation uncertainty inherent in the estimation of the generalized array manifold matrix was eliminated and DOAs were estimated, based on the matrix structure of the array manifold matrix and properties of minimum polynomial of matrix. The proposed algorithm does not need angle searching, and can be applied to the cases when some DOAs in different coherent group are the same. The effectiveness of the proposed algorithm is verified by computer simulation results.