Agility radar with the carrier frequency random hopping and the pulse repetition frequency (PRF) staggering from pulse to pulse achieves superior performance against the electromagnetic jamming. This novel scheme leads to the discontinuity of phase in a coherent processing interval, thus the fast Fourier transform‐based method is no longer a valid way to estimate the velocity of a target. A novel sparse optimisation method based on compressed sensing is proposed for high‐resolution range–Doppler reconstruction from random frequency hopping and PRF‐jittering pulses. The performance of moving target detection of the proposed method for frequency agile and PRF‐jittering radar is analysed by comparing it with parameters‐fixed pulse Doppler radar. Both simulation and field experimental results demonstrate the effectiveness of the proposal.