In order to enhance the sensitivity of Global Positioning System (GPS) receivers, increasing the coherent integration time in acquisition process is necessary. This letter analyses the limitation to coherent integration in acquisition algorithms due to the bit sign transition of navigation data and proposes a novel time parallel acquisition algorithm with transition detection (denoted as TPATD) to overcome the bit sign transition limitation. Fast Fourier transform (FFT) operation is applied to the proposed TPATD algorithm to search the code delay in parallel. Meanwhile, the algorithm extends the coherent integration time to one entire navigation data bit duration. Simulation results demonstrate the effectiveness of the proposed algorithm. The receiver operating characteristic (ROC) curves show that TPATD algorithm outperforms the existing acquisition techniques.