<p>This paper proposes the pulse shaping scheme for oversampling based parameter estimation. In this scheme, the transmitter transmits a probing pulse lasting for <i>N</i> symbol periods and the receiver samples the received pulse <i>a</i> times for each symbol period. It is clear that the probing pulse should have different levels for different sampling instants so that there are different filter gains for different sampling instants. Thus the transmit/receive filters are designed for pulse shaping so that the desired filter gains can be obtained for enhancing the performance. It is noted that the proposed design results in inter-symbol interference (ISI), which can affect the transmissions for other symbols (e.g., data symbols) and its own probing pulse. The analyses of Crame´r–Rao bound (CRB) are presentd for the proposed scheme. The results of this paper show that with the proposed scheme, as <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(aN\)</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <mi mathvariant="italic">aN</mi> </mrow> </math></EquationSource> </InlineEquation> increases, the effect of ISI can be eliminated so that CRB decreases. Since the energy of the probing pulse is kept constant, this result implies that the uncertainty of parameter estimation can be eliminated with very small probing energy. Furthermore, the actual bandwidth consumption for the probing pulse of the proposed design is only the bandwidth for one symbol, thus it is concluded that the proposed scheme is both energy efficient and bandwidth efficient.</p>