Aiming at the inconvenience of current millimeter-wave radar data acquisition, a scheme of millimeter-wave radar data acquisition system based on Zynq-7000 is proposed. The system is equipped with the AXI4 bus to send radar parameter commands to the radar equipment at the processing system (PS) end, so that the radar equipment can be powered on normally. After the radar data is received through the custom UART module, the data is synchronized and processed to retain the valid data. At the same time, the valid data is converted into AXI-Stream data stream into the S2MM port of the DMA, and finally the data is flushed to the DDR (Double Data Rate). This scheme separates the computer (PC) and directly buffers the effective radar data into ZYNQ's DDR, effectively solving the problem of high cost and single function of the existing acquisition system. It provides a low-cost data collection system for gesture recognition, parking assistance and UAV obstacle avoidance.