The single frequency modulation or phase modulation waveform based on chaotic sequence has low waveform complexity, which limits predictive probability of chaotic signal, radar intercept probability and anti-interference performance. In order to solve the problems, joint frequency-phase modulation based on chaotic sequence in radar waveform was proposed. Firstly, the radar signal was carried out for the chaotic frequency encoding, which was that a pulse was divided into a series of sub-pulses and different frequency modulation was carried out for different sub-pulses. At the same time, in each frequency encoding sub-pulse, the random initial phase was used in each cycle of waveform. The simulation results show that the maximum value of autocorrelation sidelobe peak of joint frequency-phase modulation based on chaotic radar signal achieved -24.71 dB. Compared with the frequency modulation or phase modulation based on chaotic signal, the correlation performance of the proposed joint frequency-phase modulation has improved. The experimental results show that, the joint frequency-phase modulation chaotic radar waveform combines the advantages of phase modulation and frequency modulation and is an ideal detection signal with the flat power spectrum characteristic of phase modulation and anti-noise-interference ability of frequency modulation.