When the radar system detects low-altitude, small, slow-moving (LSS) targets, the strong clutter interference from the ground will cause false alarms and affect the detection performance. In this paper, a phased array radar transmit beam steering algorithm is proposed to minimize strong interference from ground radiation. By minimizing the weighted vector norm and choosing variable sidelobe levels, the beam pattern can achieve deep notches in the ground-related area and maintain good main lobe detection performance. Furthermore, the designed beam should be insensitive to array mismatch and be robust. In addition, a peak-to-average power ratio (PAPR) constraint is introduced to fully utilize the transmitted energy. This optimization problem can be transformed into a second-order cone programming (SOCP) problem and solved using an off-the-shelf solver. The simulation results verify that the transmit beam synthesized by this method can meet the requirements of minimizing the main lobe loss and low side lobes on the ground side.