A joint time-space target detection and DOA estimation algorithm on ubiquitous radar is proposed. First, data received by antenna array was transformed from array space to beam space by digital beam-forming based on DFT. Then, the time domain detection was performed with the trace of covariance matrix. In the end, the direction of arrival was estimated by multistage Wiener filter. The simulation results show that the method proposed by this paper has a better performance on time domain detection and precision of DOA.