A compact size and high efficient single-inductor dual-output (SIDO) DC-DC converter is proposed. Generally speaking, it is important to implement DC-DC converters with minimized components and small footprint area. However, large external compensated resistors and capacitors are required to stabilize DC-DC converters. The proposed SIDO DC-DC converter not only provides dual output sources but also has minimized cross regulation without using any external compensated components. Importantly, our proposed mode-switch technique corrects the mistakes in the previous design , which didn't mention the unstable condition. Besides, owing to dynamically adjusting DC current level like CCM operation, the SIDO DC-DC converter achieves high conversion efficiency. Experimental results show a high efficiency from 85% at light load condition to 94% at heavy load condition.