This correspondence deals with the joint design of transmit waveform and receive filter to achieve low range sidelobe level. The <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathscr{l}_{p}$</tex-math></inline-formula> norm of the matching error of correlation function template with mainlobe broadening is considered as a figure of merit to minimize. To ensure hardware compatibility and low loss-in-processing gain, peak-average-power ratio and signal-noise ratio loss restrictions on the transceiver are incorporated in our design. Invoking coordinate descent and majorization–minimization frameworks, a fast iterative technique with guaranteed convergence is proposed to tackle the resulting nonconvex and NP-hard optimization problem. Each iteration of the devised approach involves FFT-based operation to sequentially update transmit waveform and receive filter. Numerical simulations highlight that our proposal can outperform some counterparts providing the low sidelobe level and achieve the reliable detection in the presence of multiple targets. Meanwhile, the semiphysical simulation result is also shown to verify the engineering realizability of the proposed design.