BeiDou navigation satellite system (BDS) adopts mixed constellation design. In addition, the rate of GEO NAV message is 500 bit/s. Therefore, a rapid BDS positioning algorithm with Doppler‐aided is presented to reduce the time to first fix. First, the approximate position is obtained using full pseudo‐ranges of GEO satellites and Doppler of all visible satellites. Secondly, the full pseudo‐ranges of non‐GEO satellites can be constructed with the approximate and reference GEO satellites. Finally, the receiver position can be estimated with full pseudo‐ranges in an accurate manner. Experimental data processing results show that the proposed method is effective to estimate receiver position.