The invention discloses a Doppler radar multi-frame coherent detection pre-tracking method based on sequential optimization, which belongs to the technical field of radar target detection, and particularly relates to the technical field of pre-detection tracking under a low signal-to-noise ratio. The method considers both interframe and intraframe coherent accumulations, integrates the idea of pre-detection tracking, and solves the problem of performance losses caused by non-coherent interframe accumulations of conventional multi-frame detection algorithms. The method has the advantages that the detection and tracking performance of low SNR targets can be improved effectively, and the performance gain is significantly improved compared with conventional non-coherent multi-frame accumulation algorithms; secondly, when parameter search is carried out, the method uses Markovian properties of parameters to convert a high-dimensional optimization problem into a plurality of low-dimensional optimization problems by a sequential optimization method, which effectively reduces the computational complexity of the algorithm.