We report a new measurement of the production cross section for inclusive electrons from open heavy-flavor hadron decays as a function of transverse momentum ($p_{\rm T}$) at mid-rapidity ($|y|<$ 0.7) in $p$+$p$ collisions at $\sqrt{s} = 200$ GeV. The result is presented for 2.5 $<p_{\rm T}<$ 10 GeV/$c$ with an improved precision above 6 GeV/$c$ with respect to the previous measurements, providing more constraints on perturbative QCD calculations. Moreover, this measurement also provides a high-precision reference for measurements of nuclear modification factors for inclusive electrons from open-charm and -bottom hadron decays in heavy-ion collisions.