In this paper, a passive multiple-input multiple-output (MIMO) radar system with widely separated antennas that estimates the positions and velocities of multiple moving targets by utilizing time delay (TD) and doppler shift (DS) measurements is proposed. Passive radar systems can detect targets by using multiple uncoordinated and un-synchronized illuminators and we assume that all the measurements including TD and DS have been known by a preprocessing method. In this study, the algorithm can be divided into three stages. First, based on location information within a certain range and utilizing the DBSCAN cluster algorithm we can obtain the initial position of each target. In the second stage according to the correlation between the TD measurements of each target in a specific receiver and the DSs, we can find the set of DS measurements for each target. Therefore, the initial speed estimated values can be obtained employing the least squares (LS) method. Finally, maximum likelihood (ML) estimation of a first-order Taylor expansion joint TD and DS is applied for a better solution. Extensive simulations show that the proposed algorithm has a good estimation performance and can achieve the Cramér-Rao lower bound (CRLB) under the condition of moderate measurement errors.