This paper proposes a joint estimation of target parameters for bistatic MIMO radar based on parallel factor analysis under spatiotemporal nonuniform sampling. Firstly, the covariance matrix of the Klevel nonuniform delays output data is calculated and transformed, and the redundant items of this matrix are deleted. Then, the new matrix is transformed to a thirdorder tensor and its dimension is reduced. Lastly, the Direction of Departure (DOD), Direction of Arrival (DOA) and Doppler frequency are estimated through Alternate Least Square (ALS) and RootMUSIC algorithms. The secondary expansion of the aperture degree of freedom both in time and space domain is attained by the proposed method. And the parameter estimation accuracy is improved while the amount of computation is reduced. Besides, the aperture is efficiently expanded and the system configuration requirements are reduced through the minimum redundancy configuration. The result shows that the proposed method is valid.