This paper presents an energy efficient successive-approximation register (SAR) analog-to-digital converter (ADC) for low-power applications. To improve the overall energy-efficiency, a skipping-window technique is used to bypass corresponding conversion steps when the input falls in a window indicated by a time-domain comparator, which can provide not only the polarity of the input, but also the amount information of the input. The time-domain comparator, which is based on the edge pursing principle, consists of delay cells, two NAND gates, two D-flip-flop register-based phase detectors and a counter. The digital characteristic of the comparator makes the design more flexible, and the comparator can achieve noise and power optimization automatically by simply adjusting the delay cell number. An energy efficient digital-to-analog converter (DAC) control scheme suitable for the skipping window technique is also developed to reduce the switching energy during SAR conversion. Together with the skipping-window technique, the linearity and the power consumption of the SAR ADC are improved. The impact of different window sizes on comparison cycles, DAC switching energy and the overall energy efficiency is analyzed. Simulation results show that the proposed skipping-window technique can improve the overall energy-efficiency of the SAR ADC, as well as the linearity, and the optimized window size for the overall energy efficiency will vary with the DAC switching energy.