A timing recovery system that provides a timing estimate between a transmitter clock and a receiver clock. The system includes a down-converter that converts a received intermediate frequency signal in the receiver and down-converts, using Fs/4 down-conversion, the received signal into baseband in-phase and quadrature phase signals. The baseband in-phase and quadrature phase signals are sent to a direct down-converter that frequency shifts the in-phase and quadrature phase. The frequency-shifted in-phase and quadrature phase baseband signals are then low-pass filtered in order to isolate the frequency components of interest, reduce noise, and remove zeros that are artifacts of the Fs/4 down-conversion. The signals are sent to a square-law non-linearity circuit that provides squaring non-linearity to generate non-linear in-phase and quadrature phase signals. The non-linear in-phase and quadrature phase signals are sent to a single-pole, low-pass post-filter circuit that generates the timing estimate.