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This paper addresses a strategy to improve the joint channel and frequency offset (FO) estimation in multi-antenna systems, widely known as multiple-input-multiple-output orthogonal frequency-division multiplexing (MIMO-OFDM), in the presence of intersymbol interference (ISI) and intercarrier interference (ICI) occasioned by an insufficient cyclic prefix (CP). The enhancement is attained by the use of an iterative joint estimation procedure (IJEP) that successively cancels the interferences located in the preamble of the OFDM frame, which is used for the joint estimation and initially contains the interferences due to a CP shorter than the channel length. The IJEP requires at certain steps a proper iterative interference cancellation algorithm, which makes use of an initial FO compensation and channel estimation obtained due to the use of a symmetric sequence in the preamble. After the iterative cancellation of interferences, the procedure performs an additional joint channel and FO estimation whose mean square error converges to the Cramer-Rao bound (CRB). Later on, this subsequent joint estimation permits the removal of the interferences in the data part of the frame, which are also due to an insufficient CP, in the same iterative fashion but saving iterations compared with the use of other estimation strategies. The appraisal of the procedure has been performed by assessing the convergence of the simulated estimators to the CRB as a function of the number of iterations. Additionally, simulations for the evaluation of the bit error rate (BER) have been carried out to probe how the utilization of the proposed IJEP clearly improves the performance of the system. It is concluded that, with a reduced number of iterations in the preamble, the IJEP converges to the theoretical bounds, thus reducing the disturbances caused by a hard wireless channel or a deliberately insufficient CP.