Quantum randomness relies heavily on the accurate characterization of the generator implementation, where the device imperfection or inaccurate characterization can lead to incorrect entropy estimation and practical bias, significantly affecting the reliability of the generated randomness. Measurement-device-independent (MDI) quantum random number generation (QRNG) endeavors to produce certified randomness, utilizing uncharacterized and untrusted measurement devices that are vulnerable to numerous attack schemes targeting measurement loopholes. However, existing implementations have shown insufficient performance thus far. Here, we propose a high-speed MDI-QRNG scheme based on a robust measurement tomography approach against the imperfection of single-photon sources. Compared with the conventional approach, the decoy-state method is introduced to obtain more accurate tomography results and a tighter lower bound of randomness. Finally, by using a high-speed time-bin encoding system, we experimentally demonstrated the scheme and obtained a reliable min-entropy lower bound of 7.37×10−2 bits per pulse, corresponding to a generation rate over 23 Mbps, which substantially outperforms the existing realizations and makes a record in discrete-variable semi-device-independent QRNGs.