This work explores a novel efficient and low-cost control scheme for rigid spacecraft attitude stabilization problem, in which the unavailability of angular velocity measurements is considered. The resulting controller is independent on spacecraft inertia parameters, and explicit accounts for control input saturation with angular velocity measurements eliminated. Moreover, the proposed control law allows $mathcal{L}_2$ gain of the closed-loop attitude system to be chosen arbitrarily small so as to achieve any level of $mathcal{L}_2$ disturbance attenuation. Numerical simulation results are also presented to highlight those highly desirable features.