Over the past few decades, there have been several successful methods developed for steganography. One popular technique is the insertion method, which is favored for its simplicity and ability to hold a reasonable amount of hidden data. This study introduces an adaptive insertion technique based on the two-dimensional discrete Haar filter (2D DHF). The technique involves transforming the cover image into the wavelet domain using 2D DWT and selecting a predetermined number of coefficients to embed the binary secret message. The selection process is carried out by analyzing the cover image in two non-orthogonal domains: 2D discrete cosine transform and 2D DHF. An adaptive algorithm is employed to minimize the impact on the unrepresented parts of the cover image. The algorithm determines the weights of each coefficient in each domain, and coefficients with low weights are chosen for embedding. To evaluate the effectiveness of the proposed approach, samples from the BOSSbase and custom databases are used. The technique’s performance is measured using three metrics: mean squared error (MSE), peak signal-to-noise ratio (PSNR), and structural similarity index (SSIM). Additionally, a visual inspection by humans is conducted to assess the resulting image. The results demonstrate that the proposed approach outperforms recently reported methods in terms of MSE, PSNR, SSIM, and visual quality.