In this paper, an optimal design of a high-efficiency DC-DC boost converter is proposed for RF energy harvesting Internet of Things (IoT) sensors. Since the output DC voltage of the RF-DC rectifier for RF energy harvesting varies considerably depending on the RF input power, the DC-DC boost converter following the RF-DC rectifier is required to achieve high power conversion efficiency (PCE) in a wide input voltage range. Therefore, based on the loss analysis and modeling of an inductor-based DC-DC boost converter, an optimal design method of design parameters, including inductance and peak inductor current, is proposed to obtain the maximum PCE by minimizing the total loss according to different input voltages in a wide input voltage range. A high-efficiency DC-DC boost converter for RF energy harvesting applications is designed using a 65 nm CMOS process. The modeled total losses agree well with the circuit simulation results and the proposed loss modeling results accurately predict the optimal design parameters to obtain the maximum PCE. Based on the proposed loss modeling, the optimally designed DC-DC boost converter achieves a power conversion efficiency of 96.5% at a low input voltage of 0.1 V and a peak efficiency of 98.4% at an input voltage of 0.4 V.