Whole-heart coronary magnetic resonance angiography (CMRA) with isotropic resolution allows reformatting in any desired imaging plane without loss of resolution. However, achieving sub-millimeter isotropic resolution with a conventional 1D diaphragmatic navigator gated CMRA is very challenging due to long and unpredictable scan times. In this study, we sought to achieve sub-millimeter CMRA by combining 2D image-based navigator motion correction with highly accelerated compressed sensing reconstruction in concert with variable density Cartesian spiral-like k-space sampling to significantly accelerate the scan. The proposed technique enables CMRA acquisitions with 0.9mm isotropic spatial resolution in about 4 minutes. Ultimately, this technique might be useful for rapid screening of the coronaries in patients with suspected coronary artery disease.