In this paper, a successive cancelation approach is proposed to estimate Doppler frequencies of targets in pulse Doppler radar systems. This technique utilizes the Doppler domain waveform structure of the received signal coming from a point target after matched filtering and pulse Doppler processing steps. The proposed technique is an iterative algorithm. In each iteration, a target that minimizes a cost function is found, and the signal coming from that target is subtracted from the total received signal. These steps are repeated until there are no more targets. The global minimum value of the cost function in each iteration is found via particle swarm optimization (PSO). Performance of this technique is compared with the optimal maximum likelihood solution for various signal-to-noise ratio (SNR) values based on Monte Carlo simulations.