In this paper, we present an efficient single image dehazing approach via scene-adaptive segmentation and improved dark channel model. First, we detect the image depth information and segment the raw image into the close view and distant view. Then, we utilize the minimum channel image of distant view to regularize the atmospheric veil and simultaneously estimate its light value of close view within the haze-opaque area, through which the whole transmission map can be well optimized. Finally, the haze degraded image can be well restored via the atmosphere scattering model. The experimental results have shown that the proposed single image dehazing approach has significantly increased the perceptual visibility of the scene and achieved a better color fidelity visually.