We consider the design of sets of discrete-phase, including binary/quaternary, sequences for phase-modulated continuous-wave multiple-input multiple-output radar in the presence of nonnegligible Doppler shift. We consider the peak sidelobes of auto- and cross-correlations in a desired interval of the Doppler shift as the performance metric of the design. Then, the design problem is formulated via imposing the discrete-phase constraint for each element of the sequences, with emphasis on binary as well as quaternary cases. This problem is nonconvex and hence hard to solve. We introduce a method based on the block coordinate descent framework to solve the optimization problem. We also modify the proposed method to efficiently update the subproblem associated with each iteration. Also, we extend it to account for only a low-correlation zone in the presence of Doppler shift. Numerical examples are provided to illustrate the effectiveness and performance of the proposed algorithm in comparison with the existing methods.