This paper studies the phase and frequency estimation problem of single-phase grid voltage signal in the presence of DC offset and harmonics. For this purpose, a novel parameterized linear model of the grid voltage signal is considered where the unknown frequency of the grid is considered as the parameter. Based on the developed model, a linear observer (Luenberger type) is proposed. Then using Lyapunov stability theory, an estimator of the unknown grid frequency is developed. In order to deal with the grid harmonics, multiple parallel observers are then proposed. The proposed technique is inspired by other Luenberger observers already proposed in the literature. Those techniques use coordinate transformation that requires real-time matrix inverse calculation. The proposed technique avoids real-time matrix inversion by using a novel state-space model of the grid voltage signal. In comparison to similar other techniques available in the literature, no coordinate transformation is required. This significantly reduces the computational complexity w.r.t. similar other techniques. Comparative experimental results are provided with respect to two other recently proposed nonlinear techniques to show the dynamic performance improvement. Experimental results demonstrate the suitability of the proposed technique.