A successive approximation analog-to-digital converter is used for converting an analog input signal into a corresponding digital output signal. The successive approximation analog-to-digital converter has a successive approximation register for storing a first digital bit stream and a second digital bit stream that are related to the analog input signal, and a digital-to-analog converter for generating a first reference voltage and a second reference voltage according to the first and second digital bit streams. The digital-to-analog converter has a first voltage divider and a second voltage divider. The first voltage divider drives the first reference voltage approaching the analog input signal to establish the first digital bit stream, and the second voltage divider drives the second reference voltage approaching the analog input signal to establish the second digital bit stream. Finally, the first and second digital bit streams are averaged to generate the digital output signal.