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Under imperfect channel estimation, we propose an improved iterative detector for multiple-input multiple-output (MIMO) systems employing the simple spatial multiplexing or V-BLAST space-time scheme and orthogonal frequency-division multiplexing (OFDM). The detector is based on soft interference cancellation and linear minimum mean-square error filtering which takes into account the error on channel estimation. Numerical results, presented for the case of Rayleigh block fading, demonstrate that our proposed detector can achieve significant performance improvement compared to the classically-used mismatched detector. This improvement is obtained with almost no increase in the receiver complexity.