Time synchronization is crucial in wireless sensor networks such as Wireless USB and WBAN for diverse purposes from the MAC to the application layer. This paper proposes online clock skew estimators to achieve energy-efficient time synchronization for wireless sensor networks. By using recursive least squares estimators, we not only reduce the amount of data which should be stored locally in a table at each sensor node, but also allow offset and skew compensations to be processed simultaneously. Our skew estimators can be easily integrated with traditional offset compensation schemes. The results of simulation and experiment show that the accuracy of time synchronization can be greatly improved through our skew compensation algorithm.