Quantum detector tomography is a fundamental technique for calibrating quantum devices and performing quantum engineering tasks. In this paper, a novel quantum detector tomography method is proposed. First, a series of different probe states are used to generate measurement data. Then, using constrained linear regression estimation, a stage-1 estimation of the detector is obtained. Finally, the positive semidefinite requirement is added to guarantee a physical stage-2 estimation. This Two-stage Estimation (TSE) method has computational complexity O(nd2M), where n is the number of d-dimensional detector matrices and M is the number of different probe states. An error upper bound is established, and optimization on the coherent probe states is investigated. We perform simulation and a quantum optical experiment to testify the effectiveness of the TSE method.