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The increase of the unmanned aerial vehicle (UAV) threaten promotes the demand for the three-dimensional (3-D) low-cost radar. The multiple input multiple output (MIMO) technology has been widely used in the communication field, and decreases the hardware cost. Thus, it can be also used in the 3-D radar field for the UAV target detection. A MIMO radar system based on time-division multiplexing (TDM) signals is introduced in this paper. The TDM signals can achieve excellent orthogonal performance by the timing control of the transmitting units, and significantly decrease the complexity of the signal generator and the transmitting channels. Base on the TDM signals, the transmitting and receiving antennas of the MIMO radar are designed, and the signal processing procedures are investigated, including the TDM signal demodulation and the digital beam forming (DBF). The ability of point target imaging and DBF of the TMD signals is verified by computer simulation.