Joint time delay and direction of arrival estimation based on uniform linear arrays in Orthogonal Frequency Division Multiplexing (OFDM) systems has to face the problems posed by coherent multipath environments and high computational complexity. In this paper, a novel fast method is proposed to achieve a joint direction-of-arrival (DOA) and time-dealy (TD) estimation of multipath OFDM signals by fully using space-frequency characteristics. Firstly, we construct an extended virtual array by combining the array structure and frequency-domain information. Then, we calculate the extended channel frequency response matrix and adopt smoothing processing to eliminate the multipath effect. Next, we get the result of DOA estimation by using a closed-form solution, which costs little complexity and can achieve fast estimation. Finally, we conduct a one-dimensional spectral search using the obtained DOA values to estimate time delays. Simulation results show that our proposed methods have excellent performance even under low SNR conditions in different multipath environments. Furthermore, methods proposed in this paper have much less computational complexity and better estimation performance compared with the multidimensional spectral peak search methods.