Infrared small target detection plays a crucial role in both military and civilian systems. However, current detection methods face significant challenges in complex scenes, such as inaccurate background estimation, inability to distinguish targets from similar non-target points, and poor robustness across various scenes. To address these issues, this study presents a novel spatial–temporal tensor model for infrared small target detection. In our method, we introduce the tensor tree rank to capture global structure in a more balanced strategy, which helps achieve more accurate background estimation. Meanwhile, we design a novel self-adaptive local prior weight by evaluating the level of clutter and noise content in the image. It mitigates the imbalance between target enhancement and background suppression. Then, the spatial–temporal total variation (STTV) is used as a joint regularization term to help better remove noise and obtain better detection performance. Finally, the proposed model is efficiently solved by the alternating direction multiplier method (ADMM). Extensive experiments demonstrate that our method achieves superior detection performance when compared with other state-of-the-art methods in terms of target enhancement, background suppression, and robustness across various complex scenes. Furthermore, we conduct an ablation study to validate the effectiveness of each module in the proposed model.