In this paper, we present a signal processing method suitable for estimating the position of a planar interface and its inclination using a directional borehole radar. The receiving directive antenna in a radar system is a coaxial‐fed circular dipole array antenna in a borehole (CFCAB), which we have proposed previously. The method combines least‐square fitting with a model of plane‐wave incidence and uses an inverse boundary scattering transform. This approach makes it possible to estimate parameters from measurements collected at only two narrowly separated depths of a radar sonde. We give a numerical example to verify the proposed method. In this simulation, the array data were generated with the Method of Moments modified for a borehole radar. We conducted field experiments in the Nakatatsu mine in Japan, where there is a fault in the skarn. We constructed a 3D image of the fault with a directional borehole radar and the signal processing method. The image agrees well with the information obtained from boring core samples and observations in the gallery.