This paper is concerned with the classical, well-studied problem of convective instabilities in rapidly rotating, self-gravitating, internally heated Boussinesq fluid spheres. Sanchez et al. (J. Fluid Mech., vol. 791, 2016, R1) recently found, unexpectedly via careful numerical simulation, that non-magnetic convection in the form of axially symmetric, equatorially antisymmetric torsional oscillation is physically preferred in a special range of small Prandtl number for rapidly rotating fluid spheres with the stress-free boundary condition. We derive an asymptotic solution describing convection-driven torsional oscillation – whose flow velocity and pressure are fully analytical and in closed form – that confirms the result of the numerical analysis and is in quantitative agreement with the numerical solution. We also demonstrate, through the derivation of a different asymptotic solution, that convection-driven torsional oscillation cannot occur in rapidly rotating fluid spheres with the no-slip boundary condition.