In this paper, an estimator for underwater DOA estimation is proposed by using a cross-linear nested array with arbitrary cross angle. The estimator excludes the variation acoustic velocity by deriving the geometric relation of the cross-linear array on the proposed algorithm. Therefore, compared with traditional DOA estimation algorithms via linear array, this estimator eliminates systematic errors caused by the uncertainty factor of the acoustic velocity in the underwater environment. Compared with the traditional acoustic velocity independent algorithm, this estimator uses the nested array and improves the performance of DOA estimation. In addition, the estimator is based on arbitrary angle of the cross-linear array, so it is more flexible in practical applications. Numerical simulations are provided to validate the analytical derivations and corroborate the improved performance in underwater environments where the actual acoustic velocity is not accurate.