Magic-state distillation is a fundamental technique for realizing fault-tolerant universal quantum computing and produces high-fidelity Clifford eigenstates, called magic states, which can be used to implement the non-Clifford pi/8 gate. We propose an efficient protocol for distilling other nonstabilizer states that requires only Clifford operations, measurement, and magic states. One critical application of our protocol is efficiently and fault-tolerantly implementing arbitrary, non-Clifford, single-qubit rotations in, on average, constant online circuit depth and polylogarithmic (in precision) offline resource cost, resulting in significant improvements over state-of-the-art decomposition techniques. Finally, we show that our protocol is robust to noise in the resource states.
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