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To reduce the large errors for direction of arrival (DOA) estimation in the multipath condition, a DOA estimation method for multipath targets based on time reversal (TR) multi-input multi-output (MIMO) radar is proposed. First, the proposed algorithm combines the focusing characteristic of TR technology with the waveform diversity and symmetry characteristic of MIMO radar, obtaining the virtual sub-arrays of echo signal. Then, the authors multiplex the rows and columns and apply forward–backward spatial smoothing algorithm to remove the coherence of the virtual sub-arrays, effectively improving the DOA estimation accuracy for multipath targets. Simulation results verify the validity of the proposed method.