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PCM/FM system is one of the most widely used in the missile and rocket telemetry system. For the problem that the breakthrough tradition demodulation method of demodulation threshold leaded by the telemetry signals low signal noise ratio (SNR) of target spacecraft reentry telemetry environment, a baseband complex rotating orthogonal MSD based soft PCM/FM signal demodulation method is studied combined with the PCM/FM signal phase characteristic. The corresponding synchronization algorithm is applied to ensure the smooth operation of the demodulation. The simulation and test results verify the soft demodulation algorithm can make reduce the demodulation threshold effectively.