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In the paper, fourth-order cumulant is applied in joint two-dimensional (2-D) angle and delay estimation in order to suppress Gaussian colored noise and improve resolution for wireless multipath channel. Based on a special plane antenna array, a novel TST-cumulant method is proposed to joint estimation multipath channel parameters of azimuth, elevation and time delay. The proposed algorithm is based on the eigenstructures of the spatial cumulant 2-D DOA matrix and the temporal cumulant ESPRIT, respectively. With super-resolution, the proposed method effectively estimates close 2-D angle or delay without any spectrum peak searching, working in additive unknown spatially and temporally colored Gaussian noises in wireless channel. Based on the obtained information of estimated parameters, three-dimensional localization can be realized. The simulation results of the proposed algorithm are given.