This paper deals with the problem of joint timing error, frequency offset and channel estimation in multi-input multi-output (MIMO) frequency selective channels. Two equivalent signal models with frequency offset and timing error are given, and then a joint estimation method is derived. The proposed estimation method consists of two steps. Firstly, a maximum-likelihood (ML) frequency offset (FO) estimator is proposed based on the second signal model. Secondly, based on the FO estimate, we formulate the timing error and channel estimation as a problem of composite hypothesis testing according to the first signal model, and then solve the problem by the composite hypothesis testing approaches. Simulation results are performed to show the effectiveness of the proposed method.