A reliable, accurate, and affordable positioning service is highly required in wireless networks. In this paper, a novel distributed message passing algorithm is proposed to solve the problem of cooperative network localization using both distance and angle of arrival estimates. This hybrid approach combines the distance and angle observations to reduce the uncertainty in localizing the network nodes. A statistical problem formulations is employed and approximate minimum mean square error (MMSE) estimates of the node locations are found. Numerical results are presented to show the improvement in localization performance compared to existing distance-only and angle-only localization methods. Moreover, the proposed algorithm improves the identifiability of the localization problem compared to range-only or angle-only localization techniques. That is, it can solve the problem with fewer anchor nodes and fewer connections in the network.