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In this paper, a novel bearings-only maneuvering target tracking algorithm based on truncated quadrature Kalman filtering (TQKF) is proposed. In the proposed method, when the target maneuvers, in order to reduce the effect on performance duo to the increasing variance of the prior distribution, a modified prior distribution based on the current measurement is proposed. In the update step, the first two moments of the modified prior distribution is approximately estimated based on the least square estimation method and Gauss–Hermite quadrature rule, and the posterior distribution is jointly updated by using the prior distribution and the modified prior distribution. Moreover, in order to adaptively choose the estimated results obtained by the prior PDF and the truncated prior PDF, a fuzzy logic approach in which a Gaussian membership function is employed is proposed to determine the weight α . Finally, the experiment results show that the proposed algorithm results in more accurate tracking than the existing one, namely, the unscented Kalman filter (UKF), the quadrature Kalman filter (QKF), interact multiple model extended Kalman filter (IMMEKF) and multiple model Rao–Blackwellized particle filter (MMRBPF). [ABSTRACT FROM AUTHOR]