The relativistic mean field (RMF) model has achieved great success in describing various nuclear phenomena. However, several serious defects are common. For instance, the pseudo-spin symmetry of high-l orbits is distinctly violated in general, leading to spurious shell closures and . This leads to problems in describing structure properties, including shell structures, nuclear masses, etc. Guided by the pseudo-spin symmetry restoration [Geng et al., Phys. Rev. C, 100: 051301 (2019)], a new RMF Lagrangian DD-LZ1 is developed by considering the density-dependent meson-nucleon coupling strengths. With the newly obtained RMF Lagrangian DD-LZ1, satisfactory descriptions can be obtained for the bulk properties of nuclear matter and finite nuclei. In particular, significant improvements on describing the single-particle spectra are achieved by DD-LZ1. In particular, the spurious shell closures and , commonly found in previous RMF calculations, are eliminated by the new effective interaction DD-LZ1, and consistently the pseudo-spin symmetry (PSS) around the Fermi levels is reasonably restored for both low-l and high-l orbits. Moreover, the description of nuclear masses is also notably improved by DD-LZ1, as compared to the other RMF Lagrangians.