Initial access (IA) is a fundamental physical layer procedure in cellular systems where user equipment (UE) detects nearby base station (BS) as well as acquire synchronization. Due to the necessity of using antenna array in millimeter-wave (mmW) IA, the channel spatial information can also be inferred. The state-of-the-art directional IA (DIA) uses sector sounding beams with limited angular resolution, and thus requires additional dedicated radio resources, access latency and overhead for refined beam training. To remedy the problem of access latency and overhead in DIA, this work proposes to use a quasi-omni pseudorandom sounding beam for IA, and develops a novel algorithm for joint initial access and fine resolution initial beam training without requiring extra radio resources. We provide the analysis of the proposed algorithm miss detection rate under synchronization error, and further derive Cramér-Rao lower bound of angular estimation under frequency offset. Using QuaDRiGa simulator with mmMAGIC model at 28 GHz, the numerical results show that the proposed approach is advantageous to DIA with hierarchical beam training. The proposed algorithm offers up to two order of magnitude access latency saving compared to DIA, when the same discovery, post training SNR, and overhead performance are targeted. This conclusion holds true in various propagation environments and 3D locations of a mmW pico-cell with up to 140m radius.