To solve the continuous phase modulation signal synchronization problem, a signal acquisition and frequency offset estimation lgorithm is proposed based on a set of pilot symbols. First, the pilot signal composed of the spread spectrum codeword is complex-matching-filtered, then the output modulus value is obtained. The signal is captured by searching the peak to sync signal. Then the frequency offset and initialization phase are estimated based on the least squares method of argument of correlation results. The range of the frequency offset estimation and the estimation accuracy are deduced in a lower SNR ratio. Simulation results show that the range of the frequency offset estimation is ±0.25Rb and the estimated accuracy is close to the Cramer-Rao lower bound when SNR is 3.3 dB.