In this correspondence, a new single-carrier waveform, called chirped discrete Fourier transform spread orthogonal frequency division multiplexing (DFT-s-OFDM), is proposed for the sixth generation of communications. By chirping DFT-s-OFDM in the time domain, the proposed waveform maintains the low peak-to-average-power ratio (PAPR) of DFT-s-OFDM. Thanks to full-band transmission and symbols retransmission enabled by chirping and discrete Fourier transform (DFT) precoding, the proposed waveform can enhance noise suppression of linear minimum mean square error equalization. Its bit error rate (BER) upper bound and diversity order are derived using pairwise error probability. Simulation results confirm that the proposed waveform outperforms the state-of-the-art waveforms in terms of BER, output signal-to-noise-ratio, and PAPR.