In this paper, a transmit beamspace design method for two dimensional Hybrid MIMO phased-array radar in application of direction of arrival (DOA) estimation is proposed. A new method to construct the virtual array rotational invariance property that enables the use of search-free DOA estimation techniques at receiver is introduced. Semidefinite relaxation is used to transform the proposed formulation into a convex one that can be solved efficiently. The unitary ESPRIT is also introduced. Numerical simulation validate the proposed approach.