In this paper, the issue of joint angle estimation for bistatic multiple-input multiple-output (MIMO) radar is investigated, and an algorithm for the joint estimation under real-valued computation is proposed. By utilizing the unitary transformation, the direction matrices and the data matrix are transformed to be real-valued ones. The direction of departure (DOD) can be estimated via the real-valued rotational invariance in the subspace, and the direction of arrival (DOA) can be obtained via the real-valued reduced-dimension function of multiple signal classification (MUSIC). The proposed algorithm utilizes both the signal and noise subspaces, requires no peak searching, and can achieve automatically paired estimations of the angles. Furthermore, it has better angle estimation performance than some existing methods. The simulation results verify the algorithmic effectiveness and robustness of the proposed algorithm.