A new method for the design of linear-phase robust far-field broadband beamformers using constrained optimization is proposed. In the method, the maximum passband ripple and minimum stopband attenuation are ensured to be within prescribed levels, while at the same time maintaining a good linear-phase characteristic at a prescribed group delay in the passband. Since the beamformer is intended primarily for small-sized microphone arrays where the microphone spacing is small relative to the wavelength at low frequencies, the beamformer can become highly sensitive to spatial white noise and array imperfections if a direct minimization of the error is performed. Therefore, to limit the sensitivity of the beamformer the optimization is carried out by constraining a sensitivity parameter, namely, the white noise gain (WNG) to be above prescribed levels across the frequency band. Two novel design variants have been developed. The first variant is formulated as a convex optimization problem where the maximum error in the passband is minimized, while the second variant is formulated as an iterative optimization problem and has the advantage of significantly improving the linear-phase characteristics of the beamformer under any prescribed group delay or linear-array configuration. In the second variant, the passband group-delay deviation is minimized while ensuring that the maximum passband ripple and stopband attenuation are within prescribed levels. To reduce the computational effort in carrying out the optimization, a nonuniform variable sampling approach over the frequency and angular dimensions is used to compute the required parameters. Experiment results show that beamformers designed using the proposed methods have much smaller passband group-delay deviation for similar passband ripple and stopband attenuation than a modified version of an existing method.