LoRaWAN is nowadays one of the most popular protocols for low-power Internet of Things communications. Although its physical layer, namely LoRa, has been thoroughly studied in the literature, aspects related to the synchronization of LoRa receivers have received little attention so far. The estimation and correction of carrier frequency and sampling time offsets (STOs) are, however, crucial to attain the low sensitivity levels offered by the LoRa spread-spectrum modulation. The goal of this article is to build a low-complexity, yet efficient synchronization algorithm capable of correcting both offsets. To this end, a complete analytical model of a LoRa signal corrupted by these offsets is first derived. Using this model, we propose a new estimator for the STO. We also show that the estimations of the carrier frequency and the STOs cannot be performed independently. Therefore, to avoid a complex joint estimation of both offsets, an iterative low-complexity synchronization algorithm is proposed. To reach a packet error rate of 10(-3), performance evaluations show that the proposed receiver requires only 1 or 2 dB higher signal-to-noise ratio than a theoretical perfectly synchronized receiver, while incurring a very low computational overhead.