The angle estimation algorithms of Multiple Input and Multiple Out (MIMO) radar have been studied. A new algorithm based on bistatic MIMO radar signal model is proposed for coherent angle estimation for MIMO radar in the presence of the spatially Gaussian noise. Through the numeration of fourth order Cumulants by using the data vectors of bistatic MIMO radar system, the influence of spatial colored noise can be eliminated and the vector which obtains the target information can be got and proved. Then a block Hankel matrix can be reconstructed by the fourth order Cumulants vector and it is proved that the rank of this block Hankel matrix is equal to the number of targets and has no relations with the coherency of the targets. Through the eigenvalue decomposition of the matrix, the receiver and transmitter angle estimation of coherent targets can be estimated combined with ESPRIT algorithm. This algorithm, combining the capacity of parameter estimation of MIMO radar and fourth order Cumulants, restrains automatically the influence of the additive Gaussian white noise and colored noise and realizes angle estimation of coherent targets with automatic pairing, and which will be more available in practice. Simulation results verify that the proposed algorithm is effective.