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In this study, a low complexity two-dimensional direction-of-arrival (2-D DOA) estimation method is proposed with uniform rectangular array (URA) when uncorrelated and coherent signals coexist. By using a new method of modified estimation of signal parameters via rotation invariance techniques (ESPRIT), the DOAs of uncorrelated signals are first estimated. Afterwards, the contributions of uncorrelated signals are eliminated, and then a new Toeplitz matrix without the information of uncorrelated signals is constructed. Using the product of the Toeplitz matrix and its conjugate transpose matrix, the remaining coherent signals can be resolved. With the two-step processing, the proposed method can resolve more signals with low computational complexity. Simulation results demonstrate the effectiveness and efficiency of the proposed method. The Cramer-Rao bound (CRB) for this signal scenario is also derived.