This paper proposes a tensor-based parameter estimation algorithm for sensing in an intelligent reflecting surface-assisted system. We present a higher-order singular value decomposition-based solution that exploits the tensor structure of the received echo signal to jointly estimate the target's delay, Doppler, and angular information. Our tensor-based solution can estimate the parameters individually at low complexity, benefiting from parallel computation. Complexity analysis is carried out in comparison with a baseline scheme that does not exploit the intrinsic multilinear structure of the sensed signal. Simulation results show that our proposed tensor-based method can achieve the same performance as the reference method while drastically reducing the computational complexity.