This paper introduces a 2D angle-of-arrival (AoA) estimator, which has a 6–18 GHz 7-element nonuniformly spaced array (NSA) and a Direct Data Domain- (D3-) based AoA algorithm for a 2D isotropic-element planar array (IEPA). A 2D calibration and data-transformation method is developed to convert the NSA data to the output of the IEPA, so that the NSA-measured data can be used in the D3 algorithm. Using the steering vector (SV) of the IEPA and the results derived from the D3 method, a new 2D AoA searching method is also developed, which offers frequency-independent performance defined by the probability of AoA estimation, when the required estimation accuracy and signal-to-noise ratio (SNR) are given. For the applications of electronic support measures, this paper also presents the use of precalculated SV and data-transformation matrix databases built on preselected frequency points and a 2D-angle grid that is close to uniformly distributed directions. The simulation results show that with good SNR (≥15 dB), the estimator can have 50% probability of AoA estimation with root mean square error (RMSE) less than or equal to 1° using just a few samples from the NSA. Moreover, the study focuses on the applications with low SNR by using more samples from the NSA. Results show that the estimator has 52% and 80% probabilities of AoA estimation with RMSE ≤1° and 5°, respectively, for phase- or frequency-modulated radar pulses, when the SNR is within [−10, 0] dB. The study also shows that the estimator prefers a circular-shaped planar array with a triangular interelement pattern, since it presents more symmetrical characteristics from different azimuth angles.