For multiple-antenna systems, the technologies of joint symbol and channel parameter estimation have been developed in recent works. However, existing technologies have a number of problems, such as performance degradation and the large cost of prior information. In this paper, a tensor space-time coding scheme in multiple-antenna systems was considered. This scheme allowed spreading, multiplexing, and allocating information symbols associated with multiple transmitted data streams. We showed that the received signal was formulated as a third-order tensor satisfying a Tucker-2 model, and then a robust semi-blind receiver was developed based on the optimized Levenberg–Marquardt (LM) algorithm. Under the assumption that the instantaneous channel state information (CSI) is unknown at the receiving end, the proposed semi-blind receiver jointly estimates the information symbol and channel parameters efficiently. The proposed receiver had a better estimation performance compared with existing semi-blind receivers, and still performed well when the channel became strongly correlated. Moreover, the proposed semi-blind receiver could be extended to the multi-user massive multiple-input multiple-output (MIMO) system for joint symbol and channel estimation. Computer simulation results were shown to demonstrate the effectiveness of the proposed receiver.