An identity-based (ID-based) universal designated verifier signature (ID-UDVS) scheme allows a signature holder to designate a specific verifier of the signature by using a simplified public identity such as e-mail address. In the paper, we present an efficient identity-based universal designated multi-verifiers signature (ID-UDMVS) scheme by extending a single verifier to a set of multi-verifiers for verification of a signature. To achieve our goal, we construct an ID-based signature scheme providing batch verification and then, using this scheme as a building block, we firstly propose an ID-UDMVS scheme with constant signature size. Interestingly our construction method can be used as a generic method transforming an ID-UDVS scheme, which is defined in a bilinear version of the so-called protocol, to an ID-UDMVS scheme.