A typical battery charging process consists of a constant-current (CC) charging phase which is followed and completed by a constant-voltage charging phase. Moreover, replacing the CC charging by constant-power (CP) charging can eliminate thermal problems and enhance the cycle life of the battery. This work aims to maximize the system efficiency of a single-stage inductive power transfer (IPT) charger by minimizing the overall losses using aCPcharging scheme. The single-stageCPIPT charger employs series-series compensation and adopts an active rectifier on the secondary side. Based on a time-domain model, the conditions of zero voltage switching (ZVS) and minimum circulating reactive power are derived. Then, the power losses in the magnetic coupler, inverter and active rectifier are analyzed and optimized underCP output condition. Combining the conditions of ZVS, minimum circulating reactive power, and minimum overall losses, we propose a novel optimal control strategy tomaintainCP output and maximum efficiency throughout the charging process. In addition, the proportional integral controller is not needed. Finally, a 120-W experimental prototype is built to verify the performance of the proposed control strategy. Experimental results demonstrate high precision CP output and an efficiency of around 87.5% for the proposed single-stage inductive power transfer battery charger.