The requirement of the increasing capacity of the communication networks promotes the massive multiple input multiple output (MIMO), which has attracted a lot of attention among academic and industry communities. Due to the inherent sparsity features of channel structure in uplink massive MIMO systems, conventional methods often bring about high computational complexity and also fail to make full use of the structural information. In order to solve this problem, this paper proposes a novel deep learning (DL) based super-resolution direction of arrivals (DOA) estimation method. Specifically, it is realized with the aids of the well-designed deep neural network (DNN). Then we employ the DNN to carry out offline learning and online deployment procedures. This learning mechanism can learn the features of the wireless channel and the spacial structures efficiently. Finally, simulation results are provided to show that the proposed DL based scheme can achieve better performance in terms of the DOA estimation compared with conventional methods.