In this paper, a novel four-level capacitor-splitting switching scheme for successive approximation register analog-to-digital converters is proposed. The fourth reference voltage V-aq, equal to V-REF/4, is introduced during the last bit-cycle to optimize capacitor area and power consumption. So, for a 10-bit SAR ADC, the capacitor area is reduced by 75%, and average switching energy of - 5.4 CVREF2 is achieved, which is 102.11% less than the monotonic switching method. The common-mode voltage remains at V-REF/2 except for the last two bit-cycles. 1% capacitor mismatch leads to root-mean-square (RMS) values of 0.321 LSB for DNL and INL. Inaccuracy of V-CM/V-aq has little effect on the accuracy of the SAR ADC. V-aq control logic is easier to design than those of other reference voltages. As a result, the proposed switching scheme offers a better trade-off between energy efficiency, capacitor saving, common-mode voltage variation, logic complexity, and accuracy. A 0.6-V 10-bit 20 KS/s SAR ADC in 0.18-mu m 1P6M CMOS technology is designed, occupying an area of about 340 x 380 mu m(2). The SAR ADC with Nyquist rate input has ENOB, SNDR, and SFDR values of 9.57 bits, 59.41 dB, and 70.56 dB, respectively. It consumes 35.1 nW, resulting in a figure-of-merit (FoM) of 2.31 fJ/conversion-step.