In direct sequence spread spectrum systems, the multipath interference is known to be one of the most important factors in degrading the measurement accuracy. To resolve this problem, we propose a superresolution multipath estimation method based on waveform replacement and adaptive-filtering. In this method, the continuous pseudorandom noise code autocorrelation waveform of the matched filtering output is first replaced by a designed triangular pulse waveform. Subsequently, a reiterative minimum mean-square error adaptive filtering approach is applied to realize superresolution estimation of multipath parameters. The proposed method can achieve accurate multipath estimation even in complex multipath scenarios containing short-delay multipaths and make a good balance between the computational complexity and the estimation performance of multipath parameters. Simulation results verify the effectiveness of the proposed method.