A radar system composed of a single transmitter, M receiving channels is studied. Radar echo signals are acquired to estimate the angle, range and velocity in a multiple moving target scenario. The developed algorithm is based on sparse recovery technique by exploiting the sparseness of the targets in angle-range domain. It is shown in simulations for automotive scenario that the proposed algorithm yield better performance in terms of both imaging accuracy and multiple-target resolution compared with the methods of conventional beamforming and minimum variance (Capon) beamforming.