Quantitative ultrasound methods aim to estimate the acoustic properties of the underlying medium, such as the attenuation and backscatter coefficients, and have applications in various areas including tissue characterization. In practice, tissue heterogeneity makes the coefficient estimation challenging. In this work, we propose a computationally efficient algorithm to map spatial variations of the attenuation coefficient. Our proposed approach adopts a fast, linear least-squares strategy to fit the signal model to data from pulse-echo measurements. As opposed to existing approaches, we directly estimate the attenuation map, i.e., the local attenuation coefficient at each axial location by solving a joint estimation problem. In particular, we impose a physical model that couples all these local estimates and combine it with a smoothness regularization to obtain a smooth map. Compared to the conventional spectral log difference method and the more recent ALGEBRA approach, we demonstrate that the attenuation estimates obtained by our method are more accurate and better correlate with the ground-truth attenuation profiles over a wide range of spatial and contrast resolutions.