In this paper, we design a low-complexity direction-of-arrival (DOA) estimation algorithm based on the unitary approximate message passing (UAMP) and Bernoulli-Gaussian (BG) prior. We first show that the estimation of DOA can be transferred into a sparse signal recovery problem, where we turn to UAMP with damping technique to solve this problem. Furthermore, we assume the BG prior on the sparse vector to be estimated, resulting in the fast estimation of the positions of non-zero elements. Moreover, expectation maximum (EM) is leveraged to automatically learn the BG parameters. Compared to the state-of-the-art UAMP-based algorithm with sparse Bayesian learning (SBL), the proposed approach can achieve the same DOA mean square error (MSE) performance with a much faster convergence speed.