Abstract This paper deals with the problem of the Direction Of Arrival (DOA) estimation with nonuniform linear arrays. The proposed method is based on the Expectation Maximization method where ESPRIT is used in the maximization step. The key idea is to iteratively interpolate the data to a virtual uniform linear array in order to apply ESPRIT to estimate the DOA. The iterative approach allows to improve the interpolation using the previously estimated DOA. One of this method novelties lies in its capacity of dealing with any nonuniform array geometry. This technique manifests significant performance and computational advantages over previous algorithms such as Spectral MUSIC, EM-IQML and the method based on manifold separation technique. EM-ESPRIT is shown to be more robust to additive noise. Furthermore, EM-ESPRIT fully exploits the advantages of using a nonuniform array over a uniform array: simulations show that for the same aperture and with less number of sensors, the nonuniform array presents almost identical performance as the equivalent uniform array.