Accelerated whole-heart 3D isotropic coronary MR angiography (CMRA) is achieved by undersampling the acquisition using a variable-density radial Cartesian (VDRC) trajectory and performing non-rigid respiratory motion correction directly in the low-dimensional-structure self-learning and thresholding (LOST) reconstruction. The proposed approach corrects for 2D beat-to-beat translational and 3D bin-to-bin non-rigid motion. The former is estimated from interleaved image navigators and the latter directly from the CMRA data. The VDRC trajectory provides improved respiratory bin reconstructions and initial image estimate for LOST. The proposed approach produces good quality images, comparable to those of a two-fold accelerated navigator-gated acquisition with ~4x longer scan time.