This paper aims to design multiple-input multiple-output (MIMO) radar receiving weights and transmitting waveforms, in order to obtain better spatial filtering performance and enhance the robustness in the case of signal-dependent interference and jointly inaccurate estimated angles of target and interference. Generally, an alternate iterative optimization algorithm is proposed for the joint design problem. Specifically, the receiving weights are designed by the generalized eigenvalue decomposition of the matrix which contains the estimated information of the target and interference. As the cost function of the transmitting waveform design is fractional, the fractional optimization problem is first converted into a secondary optimization problem. Based on the proposed algorithm, a closed-form solution of the waveform is given using the alternating projection. At the analysis stage, in the presence of estimated errors under the environment of signal-dependent interference, a robust signal-to-interference and noise ratio (SINR) performance is obtained using a small amount of calculation with an iterative procedure. Numerical examples verify the effectiveness of the performances of the designed waveform in terms of the SINR, beampattern and pulse compression.