OFDM/offset-QAM (OFDM/OQAM) has been proven to be a promising multi-carrier transmission technique. However, carrier frequency offset (CFO) can lead to severe inter-carrier interference (ICI) and performance degradation. Meanwhile, channel estimation is also an important issue because of the intrinsic characteristics of OFDM/OQAM. In this paper, a novel pilot structure and a frequency-domain cross-correlation algorithm are proposed for the joint CFO and channel estimation. Analysis and simulation results validate the effectiveness of the proposed pilot structure and estimation algorithm.