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We consider the problem of channel estimation for millimeter wave (mmWave) systems, where, to minimize the hardware complexity and power consumption, an analog transmit beamforming and receive combining structure with only one radio frequency chain at the base station and mobile station is employed. Most existing works for mmWave channel estimation exploit sparse scattering characteristics of the channel. In addition to sparsity, mmWave channels may exhibit angular spreads over the angle of arrival, angle of departure, and elevation domains. In this paper, we show that angular spreads give rise to a useful low-rank structure that, along with the sparsity, can be simultaneously utilized to reduce the sample complexity, i.e., the number of samples needed to successfully recover the mmWave channel. Specifically, to effectively leverage the joint sparse and low-rank structure, we develop a two-stage …