Techniques are provided for adaptive read threshold voltage tracking with gap estimation between default read threshold voltages. A read threshold voltage for a memory is adjusted by estimating a gap between two adjacent default read threshold voltages using binary data from the memory, wherein the gap is estimated using statistical characteristics of at least one of two adjacent memory levels of the memory; computing an adjusted read threshold voltage associated with the two adjacent memory levels by using the statistical characteristics of the two adjacent memory levels and the gap; and updating the read threshold voltage with the adjusted read threshold voltage. Pages of the memory are optionally read at multiple read threshold offset locations to obtain disparity statistics, which can be used to estimate mean and/or standard deviation values for a given memory level. The gap is optionally estimated using the mean and/or standard deviation values.