We revisit the electromagnetic form factors of the proton and neutron in the original-minimal soft-wall holographic QCD, which has only two parameters, i.e., the mass scale κ and the twist parameter of the nucleon τ. We first fix τ=3 by the hard scattering rule, and extract κ=0.402 GeV from the world data (including the Mainz A1 data) of the Sachs magnetic form factor of the proton GMp. We then predict among others, the charge radius of the proton to be rp=0.831±0.008 fm, in perfect agreement with the recent charge radius of the proton measured by the PRad collaboration at Jefferson Lab, and in agreement with the muonic hydrogen experiments. Our prediction for the proton elastic form factor ratio μpGEp/GMp is also in very good agreement with the recent high precision Jefferson Lab recoil polarization experiment E08-007 for Q2=0.3−0.6 GeV2, and with the recent high precision Mainz A1 experiment for Q2<0.13 GeV2.