Multiple input and multiple output (MIMO) radar systems have advantages over traditional phased-array radar in resolution, parameter identifiability, and target detection. However, the estimation performance of the direction of arrivals (DOAs) and the direction of departures (DODs) will be significantly degraded for a colocated MIMO radar system with unknown mutual coupling matrix (MCM). Although auxiliary sensors (AS) can be set to solve this problem, the computational cost of two-dimensional multiple signal classification (2D-MUSIC) is still large. In this paper, a new angle estimation method is proposed to reduce the computational complexity. First, a local-search range is defined for each initial angle estimation obtained by the MUSIC with AS method. Second, the new estimation of DOAs and DODs of the targets is estimated via the joint estimation theory of angle and mutual coupling coefficient in the local search area. Simulation results validate that the proposed method can obtain the same precision and have the advantage over the global searching in computational complexity.