The tripole vector antenna comprises three orthogonal dipole antennas, so it could completely capture all the electric field of the incident electromagnetic (EM) wave. Then, the electric field information could be used to estimate the direction of arrival (DOA) of the EM wave if two conditions are satisfied. One is that there exists only one single EM wave in space. The other is that the EM wave is elliptically or circularly polarized. The new estimation method obtains two snapshot vectors through the output of a tripole antenna and computes their cross-product vector. Furthermore, the direction of the cross-product vector is used to estimate the DOA of the EM wave directly. We analyze the statistical characteristics of the DOA estimation error to prove that the new scheme is an asymptotic unbiased estimation. Furthermore, unlike the existing Multiple Signal Classification (MUSIC)-based algorithms, the proposed approach only need one tripole vector antenna instead of an antenna array. Meanwhile, the new method also outperforms existing MUSIC-based algorithms in the term of computational complexity. Finally, the performance and advantages of the proposed method are verified by numerical simulations.