This paper deals with the estimation of range-Doppler plane in pulse Doppler radar system, accounting both for clutter-free scenario and clutter scenario. A modified adaptive multi-pulse compression (MAMPC) algorithm including the estimation stages of range dimension and Doppler dimension is proposed for clutter-free scenario, where each stage is implemented based on the gain constraint adaptive pulse compression (GCAPC) algorithm. Additionally, the combination of whitening method removing the correlation of clutter component and MAMPC algorithm is presented for the considered clutter scenario. Numerical simulations are provided to validate the effectiveness of MAMPC in terms of estimation of range-Doppler plane and computation burden.