Smoothed particle hydrodynamics (SPH) is a meshfree method and has been widely used in the field of fluid dynamics. However, there is still a lack of robust approach to implement the far-field boundary condition in the simulation of free stream flow past the rigid body. To solve this problem, on the basis of Lastiwka et al.’s work, an improved non-reflecting boundary condition, called mixed characteristic boundary condition is proposed in this paper. The mixed characteristic boundary condition is tested by two-dimensional incompressible flows with a perturbation at the initial moment. The numerical results show that the mixed characteristic boundary condition can effectively suppress the reflection of waves on far-field boundaries. Finally, flows past a hydrofoil are simulated within the framework of the kernel gradient free SPH in two kinds of non-reflecting boundary condition. The results indicate that the present boundary condition is more robust and suitable for SPH than the one adopted by Lastiwka et al.