A recursive algorithm named Zero-point Attracting Projection (ZAP) is proposed recently for sparse signal reconstruction. Compared with the reference algorithms, ZAP demonstrates rather good performance in recovery precision and robustness. However, any theoretical analysis about the mentioned algorithm, even a proof on its convergence, is not available. In this work, a strict proof on the convergence of ZAP is provided and the condition of convergence is put forward. Based on the theoretical analysis, it is further proved that ZAP is non-biased and can approach the sparse solution to any extent, with the proper choice of step-size. Furthermore, the case of inaccurate measurements in noisy scenario is also discussed. It is proved that disturbance power linearly reduces the recovery precision, which is predictable but not preventable. The reconstruction deviation of $p$-compressible signal is also provided. Finally, numerical simulations are performed to verify the theoretical analysis.