The insulation layers of submarine cables can be damaged by harsh marine condition and anthropic factor, leading to faults. Due to complex undersea environment, it is difficult to sense high-impedance faults in submarine cables. This paper proposes a method for detecting and locating high-impedance faults. Based on the distributed-parameter model of three-core submarine cable in modal domain, the modal voltage along the cable is firstly computed. Then, the fault detection criterion is established by using the selected modal voltage signal which effectively reflects fault occurrence. Finally, based on amplitude distribution characteristics of the modal voltage, the faulty cable section is identified. A fault distance estimation algorithm is constructed by using the section identification result as a boundary condition and iterative solution to estimate precise fault location. The simulation model of a submarine cable fed by offshore wind power is constructed by PSCAD/EMTDC. Various high impedance fault simulations results validate the effectiveness of the method. The calculation time of this method is only 0.06 s with a maximum fault distance estimation error not exceeding 0.608 km.