Off-grid issues and high computational complexity are two major challenges faced by sparse Bayesian learning (SBL)-based compressive sensing (CS) algorithms used for random frequency pulse interval agile (RFPA) radar. Therefore, this paper proposes an off-grid CS algorithm for RFPA radar based on Root-SBL to address these issues. To effectively cope with off-grid issues, this paper derives a root-solving formula inspired by the Root-SBL algorithm for velocity parameters applicable to RFPA radar, thus enabling the proposed algorithm to directly solve the velocity parameters of targets during the fine search stage. Meanwhile, to ensure computational feasibility, the proposed algorithm utilizes a simple single-level hierarchical prior distribution model and employs the derived root-solving formula to avoid the refinement of velocity grids. Moreover, during the fine search stage, the proposed algorithm combines the fixed-point strategy with the Expectation-Maximization algorithm to update the hyperparameters, further reducing computational complexity. In terms of implementation, the proposed algorithm updates hyperparameters based on the single-level prior distribution to approximate values for the range and velocity parameters during the coarse search stage. Subsequently, in the fine search stage, the proposed algorithm performs a grid search only in the range dimension and uses the derived root-solving formula to directly solve for the target velocity parameters. Simulation results demonstrate that the proposed algorithm maintains low computational complexity while exhibiting stable performance for parameter estimation in various multi-target off-grid scenarios.