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The problem of joint ego-motion estimation and 3D unambiguous Doppler beam sharpening in automotive multiple-input and multiple-output (MIMO) forward-looking radar has been studied. Based on the phase differences between the targets and the radar during the movement in different slow time bins, the 3-dimensional ego-estimation is performed and transferred into the 3D Doppler beam sharpening algorithm. The coupling between the azimuth and elevation estimation and the ambiguity problem of the Doppler beam sharpening are addressed in the proposed 3D Doppler beam sharpening algorithm. The joint algorithm performance has been studied in simulations, and possible limitations have been discussed. In addition, the method has been verified experimentally with point-like and extended targets to show the robustness of the whole process.