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To solve the problem of low accuracy of a mobile node localization in an underwater sensor network, this article proposes a hybrid localization algorithm based on Doppler shift and angle of arrival (AOA) for the underwater mobile node (DAHL). This algorithm utilizes the Doppler frequency shift between the different signals received from the anchor node and the mobile node and the AOA measurement of the signal reflected by the mobile node to estimate the instantaneous position and velocity information of the mobile node through a two-stage algebraic method. In view of the existing measurement errors in the actual situation, the position and velocity estimation errors of the mobile node are optimized by introducing auxiliary parameters. Theoretical analysis and simulation experiments show that the DAHL method can effectively improve the localization accuracy of the mobile node. The localization accuracy of this algorithm can be close to the Cramér-Rao Lower Bound (CRLB) with the condition of small measurement errors.