A joint channel and Direction of Arrival (DOA) estimation apparatus and method simplified to efficiently estimate a channel impulse response associated with a spatially selective transmission channel occurring in a mobile radio channel are provided. To uniformly process all directions, angles associated with a beam are predetermined according to a preset method. This selection calculates a linear system model with regular spatial sampling using regular spatial separation of beam angles. The novel beam forming compensates for a difference between an adaptive array antenna and a sector type antenna using appropriate beam steering according to the calculated linear system model, thereby improving performance and facilitating implementation.