We report on the active stabilization of a Michelson interferometer at an arbitrary phase angle with a precision better than 1° at λ=632.8 nm, which corresponds to a precision in the optical path difference between the two arms of less than 1 nm. The stabilization method is ditherless, and the error signal is computed from the spatial shift of the interference pattern of a reference laser, measured in real-time with a CCD array detector. We discuss the usefulness of this method for nanopositioning, optical interferometry, and quantum optical experiments.