This paper proposes multiple-input multiple-output (MIMO) radar waveforms consisting of Doppler-offset orthogonal complementary codes (DO-OCC) for raising the Doppler resilience of MIMO radar systems. The DO-OCC waveforms have low cross-correlation among multiplexed waves and a low autocorrelation peak sidelobe level (PSL) even in the Doppler shift condition. They are verified by computer simulations and measurements. Computer simulations show that the peak sidelobe ratio (PSR) of the DO-OCC exceeds over 60dB and the desired to undesired signal power ratio (DUR) is over 60dB in the case that the Doppler shift is 0.048 rad per pulse repetition interval (PRI). And through the experimental measurements, it has been verified that the PSR of the DO-OCC is over 40dB and the DUR is over 50dB in the case that Doppler shift is 0.05 rad per PRI and that The DO-OCC waveforms enable to maintain the direction of arrival (DOA) estimation accuracy for moving targets as almost same as the one for static targets. The results prove the effectiveness of the proposed MIMO waveforms in achieving Doppler tolerance while maintaining orthogonality and autocorrelation properties.