I think that most fast way should not taking higher than O(n^2) also in this way you can use just O(1) space :
the way to do that is to swap in pairs because when you transpose a matrix then what you do is: M[i][j]=M[j][i] , so store M[i][j] in temp, then M[i][j]=M[j][i],and the last step : M[j][i]=temp. this could be done by one pass so it should take O(n^2)