In this paper, we present a low complexity, yet high accurate one-dimensional (1-D) estimation of signal parameters via rotational invariance techniques (ESPRIT) based algorithm for joint estimation of the azimuth, elevation and frequencies in wireless communication systems. The proposed algorithm makes use of the 1-D ESPRIT algorithms to estimate these parameters alternatively in a hierarchical tree structure. Between every other 1-D ESPRIT algorithms, a temporal filtering process or a spatial beamforming process are invoked to group and isolate the incoming signals, so that the overall performance can be enhanced. Furthermore, with such a tree-structured estimation scheme, the pairing of these parameters is automatically determined. Simulation results show that the incoming signals can be well resolved even with very close parameters