The study of hybrid precoder has been focused on the application of the low-resolution phase shifters (PSs) since they can reduce the power consumption of RF chains. In this paper a heuristic iteration algorithm is proposed to design hybrid precoder and combiner in mmWave massive MIMO systems to improve the PSs quantization performance using MMSE criterion. This heuristic algorithm first builds a cost function, which can continuously converge to the optimal solution of the quantized shifter phases with constant modulus constraints. Simulation results show that the proposed design of hybrid precoder can achieve significant performance with low-complexity in mmWave massive MIMO systems.