This paper deals with the problem of track initiation in dense clutters. A novel Hough transform method based on prior motion information is proposed. Firstly, with time sequence of the measurements and targets’ kinematic information considered, the single scan data accumulation effect is avoided, and the initiated tracks are more reliable. Then, measurements in observation space only vote to part of the lines that pass through them, which can effectively reduce the computational cost, and improve the initiation speed. Simulation results indicate that the proposed method is superior to the traditional algorithms in terms of detection probability, computational cost and robustness.