Conventional object detection methods are in the pixel domain and require full decoding with high computational complexity. In this paper, we propose a fast object detection method in the intra compressed domain of High Efficiency Video Coding (HEVC), which significantly accelerates the object detection process that uses compressed video images. Considering the characteristics of various coding features, we select 3 types of data for object detection, including partitioning depths, prediction modes, and residuals. To achieve a more discriminative representation of the residuals, we design an iterative restoration algorithm that can generate the details of the original image and reduce the noise in the residuals. Extensive evaluations on multiple HEVC test sequences and large-scale object detection dataset BDD100K confirm the effectiveness of our method. With a slight reduction in detection accuracy, our compressed domain detection system runs 1.8 times faster than the pixel domain.