A salient adaptive carrier recovery with a multi-order Digital Phase-Locked Loop (DPLL) based on Kalman filtering is presented in this paper. Using optimal loop gain sequence, that is Kalman gain sequence, for various optimization criteria, the proposed DPLL achieves fast phase acquisition and low phase jitter. The loop gain sequence optimized under the Least Squares (LS) criterion shows enough phase tracking capability under severe fading and can be used for mobile communication applications. Finally, the multi-order DPLL allows robust stability and bandwidth control and achieves zero phase offset.