In this paper, a hybrid optimization method utilizing a pseudo-random algorithm and convex optimization is proposed to avoid grating lobe and achieve lower side lobe level (SLL) of a planar sparse array when the minimum inter-element distance is one wavelength. The pseudo-random algorithm is utilized to distribute the positions of elements. The convex algorithm is utilized to optimize the excitations of elements. The results show that a planar sparse array with no grating lobe and peak side lobe level (PSLL) of −17 dB can be obtained with a minimum inter-element distance of one wavelength, which indicates the effectiveness of the hybrid optimization method. In addition, beam steering can be achieved within an 80∘ field of view range.