Spatial compressive sensing (SCS) has recently been applied to direction-of-arrival (DOA) estimation, owing to its advantages over conventional versions. However the performance of compressive sensing (CS)-based estimation methods degrades when the true DOAs are not exactly on the discretized sampling grid. We solve the off-grid DOA estimation problem using the deterministic maximum likelihood (DML) estimation method. In this letter, on the basis of the convexity of the DML function, we propose a computationally efficient algorithm framework for off-grid DOA estimation. Numerical experiments demonstrate the superior performance of the proposed methods in terms of accuracy, robustness and speed.