While it has been recognized that the multipath structure of the underwater acoustic (UWA) channel offers the potential for compressed sensing (CS) sparsity exploitation, the rapidly time varying arrivals induced by highly dynamic surfaces unfortunately pose significant difficulties to channel estimation. From the viewpoint of underwater acoustic propagation, with the exception of the highly time varying arrivals caused by dynamic surface, generally there exist relatively stationary or slowly changing arrivals caused by direct path or bottom reflection, which imply the adoption of a discriminate estimation method to handle sparse components with different time variation scale. By modeling the time varying UWA channels as a sparse set consisting of constant and timevarying supports, in this paper, estimation of time varying UWA channel is transformed into a problem of dynamic compressed sensing sparse recovery. The combination of a Kalman filter and compressed sensing is adopted to pursue the solution of it. Numerical simulations demonstrate the superiority of the proposed algorithm. In the form of a channel-estimation-based decision-feedback equalizer, the experimental results with the field data obtained in a shallow water acoustic communication experiment indicate that the proposed dynamic compressed sensing algorithm outperforms classic algorithms as well as CS algorithms.