In this paper, we propose a joint estimation method for the sampling rate offsets (SROs) of multiple recording devices. In wireless acoustic sensor networks, distributed microphones are connected to different analog-to-digital converters, and thus SROs occur on non-reference channels, which degrades the performance of various array signal processing techniques. To address this problem, we propose to jointly estimate and compensate SROs of all the non-reference channels. Since the proposed method is formulated as a multivariate non-convex optimization problem, we derive an efficient optimization algorithm on the basis of the majorization-minimization and majorizationequalization algorithms. We further propose to update SROs with only low-frequency components in the initial iterations to avoid undesired local optima. Our experimental results validate the effectiveness of the joint estimation of all SROs and demonstrate its advantage in subsequent array signal processing.