The Multiple Input Multiple Output (MIMO) radar, as a new type of radar, emits orthogonal waveforms, which provide it with waveform diversity characteristics, leading to increased degrees of freedom and improved target detection performance. However, it also poses challenges such as difficulty in meeting higher data demand, separating waveforms, and suppressing the multidimensional sidelobes (range sidelobes, Doppler sidelobes, and angle sidelobes) of targets. Phase-coded signals are frequently employed as orthogonal transmission signals in the MIMO radar. However, these signals exhibit poor Doppler sensitivity, and the intra-pulse Doppler frequency shift can have an impact on the effectiveness of the matching filtering process. To address the aforementioned concerns, this paper presents a novel approach called the Space–Time–Range Joint Adaptive Focusing and Detection (STRJAFD) method. The proposed method utilizes the Mean Square Error (MSE) criterion and integrates spatial, temporal, and waveform dimensions to achieve efficient adaptive focusing and detection of targets. The experimental results demonstrate that the proposed method outperforms conventional cascaded adaptive methods in effectively addressing the matching mismatch issue caused by Doppler frequency shift, achieving super-resolution focusing, possessing better suppression effects on three-dimensional sidelobes and clutter, and exhibiting better detection performance in low signal-to-clutter ratio and low signal-to-noise ratio environments. Furthermore, STRJAFD is unaffected by coherent sources and demands less data.