Waveform design is a significant topic in multiple-input-multiple-output (MIMO) radar. In this paper, we address the problem of waveform design for colocated narrowband MIMO radar transmit beampattern synthesis. The existing methods have not comprehensively considered the transmit beampattern synthesis under multiple practical constraints, such as constant modulus constraint, Doppler tolerance, high range resolution and low auto-correlation sidelobe. We consider these practical constraints and propose a novel chirp rate diversity-based linear frequency modulated (CRD-LFM) waveform design for approximating the desired MIMO radar transmit beampattern. To tackle the problem, we improve the classical two-step approach. Firstly we design the covariance matrix using the existing closed-form solution. Then we model the problem of obtaining the waveforms from the covariance matrix as a nonlinear optimization problem, and we utilize the Sequential Quadratic Programming (SQP) algorithm to solve it. The simulations demonstrate that the waveforms obtained by this method can well approximate the desired transmit beampattern and have higher range resolution. Furthermore, we verify that the suppression of auto-correlation sidelobe can be achieved using amplitude weighting, which is easily realizable in practical engineering.