In the electronic warfare environment, the performance of radar and jammer will be affected by the lack of understanding of the battlefield game environment and the inaccurate estimation of spectrum information. This paper studied the energy allocation problem of radar transmission waveform and jamming waveform, and radar and jammer can obtain better performance by optimizing their own transmission waveform in the process of confrontation. In reality, because the radar cannot obtain accurate target spectrum and jamming spectrum, and the jammer cannot obtain accurate target spectrum and radar transmitted signal spectrum, the radar and jammer are taken as leaders respectively, a hierarchical game model is established, and a double robust waveform design method is proposed. The optimization model of dual robust transmit waveform is established under the energy constraint, and the dual robust radar transmit waveform and dual robust jamming waveform are solved by Lagrange multiplier method. Simulation results show that the proposed method can improve the radar parameter estimation performance and jammer performance in the worst case.