Considering limited pilot overhead and large delay and Doppler shift in LoRa (Long Range)-based IoT (Internet of Things) systems, this paper presents an efficient joint parameter estimation and soft nonconherent detection scheme. During the parameter estimation, a joint delay and Doppler shift estimation method is proposed, which is called the JDDSE method. Different from the existing estimation methods, the proposed method utilizes the time-domain characteristic of the LoRa signal and only needs to estimate a joint offset of the delay and Doppler shift instead of their respective offsets. Then, a soft noncoherent detection is developed from the existing work in order to match the JDDSE method. Simulation results indicate the validity of the proposed method under the uplink IoT transmission.