By means of Lagrange duality theory of the convex program, a dual problem of Hill's maximum plastic work principle under Mises' yield condition has been derived and whereby a non-differentiable convex optimization model for the limit analysis is developed. With this model, it is not necessary to linearize the yield condition and its discrete form becomes a minimization problem of the sum of Euclidean norms subject to linear constraints. Aimed at resolving the non-differentiability of Euclidean norms, a smoothing algorithm for the limit analysis of perfect-plastic continuum media is proposed. Its efficiency is demonstrated by computing the limit load factor and the collapse state for some plane stress and plain strain problems.