The traditional Nyquist sampling theorem brings a pressure in the sampling and storage devices for array parameter estimation in radar signal. A joint carrier frequency and two-dimensional direction of arrival (2D-DOA) estimation method are proposed based on double L shaped array random demodulation ( RD) structure. This method based on the estimating signal parameter via rotational invariance technique (ESPRIT) decomposition method. The algorithm constructs a cross-correlation matrix between different antennas. The corresponding pairing method is also provided. Simulation results show that this method can estimate the carrier frequency and 2D-DOA of the target signal from the sub-Nyquist samples, and reconstruct the time domain waveform of the original signal.