Minimum redundancy array (MRA) has the maximum aperture with continuous difference co-array among various sparse arrays with same number of physical sensors, but it is hard to calculate the sensor position of MRA and realize array design by using MRA. To solve those problem, generalized MRA is proposed with mutual coupling limitation and easy calculation method of sensor position. Based on proposed array configuration, a high-precision underdetermined direction of arrival (DOA) estimation method is proposed with reduced computaional complexity. In this method, fast covariance matrix reconstruction is achieved by trace norm minimization with more accurate covariance estimation. Based on the Toeplitz property of covariance matrix in uniform array, a new sparse representation model is established with reduced dimension of covariance vector and faster DOA estimation is achieved via convex optimization. In addition, the proposed method can also be used for underdetermined DOA estimation of other sparse arrays. Using simulation experiments, we demonstrate that the proposed sparse array configuration has superiority over other sparse arrays and the proposed method can outperform most existing methods in terms of underdetermined DOA estimation accuracy and efficiency.