This brief presents a digital calibration technique for compensating timing-skew errors between the sub-ADC and the MDAC in the first stage of sample-and-hold amplifier (SHA)-less pipeline ADCs. In the presence of clock-skew errors, sub-ADC comparators produce time-variant offsets depending on the input-signal slope at the sampling instants. These increase residue excursions at the MDAC output, potentially causing overranging and an increment in nonlinear errors. This paper derives close analytical expressions for these effects. The proposed method uses the overranging information to perform a low-cost estimation and correction of the skew error with the following features: 1) very fast convergence (in the order of 1-k input samples); 2) indirect evaluation of the skew error signal, without any previous knowledge of the input signal's frequency distribution; and 3) relatively simple digital logic-basically, two digital comparators and one small accumulator. The method was verified in behavioral and transistor-level simulations. As a demonstrator, its implementation in a 1.8-V 80-dB SNDR 100-Msps SHA-less pipeline ADC in a 0.18-μm CMOS process is shown.