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Performance analysis of multiple-input multiple-output (MIMO) orthogonal frequency-division multiplexing (OFDM) systems with carrier frequency offset and channel estimation errors is considered in this paper. Based on the analysis of the inter-carrier-interference (ICI) and inter-antenna-interference (IAI) due to the residual frequency offsets, the average signal-to-interference-and-noise ratio (SINR) is derived. The bit error rate of equal gain combining (EGC) and maximal ratio combining (MRC) with MIMO-OFDM is analyzed, and an infinite-series approximation for the bit error rate is derived. Simulation results illustrate the accuracy of the theoretical analysis.