In this paper, 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. As the initial study on this waveform, its performance is analyzed and evaluated in single-user uplink multiple access communications, using a delay-Doppler channel model with independent and identically distributed path amplitudes and different integer delays. By chirping DFT-s-OFDM in the time domain, it maintains the low peak-to-average-power ratio of DFT-s-OFDM. Thanks to full-band transmission and symbols retransmission enabled by chirping and discrete Fourier transform precoding, it enhances noise suppression of linear minimum mean square error equalization. By using pairwise error probability analysis, the derived bit error rate upper bound is close to the simulated ones and the diversity order analysis confirms that it achieves full frequency diversity.