In this paper, we address the problem of blind extraction and separation of a continuous chaotic signal from a linear mixture consisting of some chaotic signal and/or random signals. The problem of blind extraction is firstly formulated as a problem of the synchronization-based parameter estimation. Then an efficient least square based parameter estimation method is introduced to de-termine the desired extracting vector. The proposed blind signal extraction scheme is applicable to blind separation of chaotic signals by formulating the separation problem as the extraction of each chaotic source. Numerical simulation shows that the proposed approach can blindly extract and separate the desired chaotic signals and it is also robust to measurement noise.