In this paper, we present a novel and numerically efficient algorithm for high resolution TOA(Time Of Arrival) estimation under indoor radio propagation channels. The proposed algorithm is not dependent on the structure of receivers, i.e, it can be used with either coherent or non-coherent receivers. The TOA estimation algorithm is based on a high resolution frequency estimation algorithm of Minimum-norm. The efficiency of the proposed algorithm relies on numerical analysis techniques in computing signal or noise subspaces. The algorithm is based on the two step procedures, one for transforming input data to frequency domain data and the other for estimating the unknown TOA using the proposed efficient algorithm. The efficiency in number of operations over other algorithms is presented. The performance of the proposed algorithm is investigated by means of computer simulations.. Throughout the analytic and computer simulation results, we show that the proposed algorithm exhibits superior performance in estimating TOA estimation with limited computational cost.