A discrete Fourier transform spread orthogonal time frequency space modulation method comprises the steps of performing DFT preceding processing and delay-Doppler domain mapping processing on the transmit data symbols, OTFS modulator, and performing delay-Doppler domain demapping processing and IDFT decoding processing on a received signal to realize demodulation; compared with the existing waveforms, including OFDM and DFT-s-OFDM, the proposed DFT-s-OTFS can reduce the bit error rate under high Doppler spread and the peak-to-average power ratio of the transmitted signal at the same time.