The Tibetan Plateau is a region where the Indian and Asian-European plates collide. A high-precision Moho topography model is important for the study of plate motion and internal tectonics of the Tibetan Plateau. However, previous gravity-based models failed in representing adequately the Moho topography because crustal effects and biases in the inversion parameters were not fully considered. To address these issues, we extracted the gravity effect caused by the crust using wavelet multi-scale analysis, and used an adaptive linear inversion method with available gravity and seismic data to estimate more accurate inversion parameters. With these two improvements, we inverted for a high-precision Moho topography model of the Tibetan Plateau. The results show that the majority of the Tibetan Plateau has a Moho depth of 60–70 km. The Moho depth in the center of the Qaidam Basin is about 50 km, and the Moho topography between the east and west of the basin has obvious undulations. The Moho depth of the Tarim Basin ranges from 38–50 km. While the undulation of Moho is limited in the center of the basin, obvious uplifts are shown in northern and southern basin. The plate driving force between the Tibetan Plateau and the Tarim Basin may be the primary cause of this phenomenon. By comparing the difference with the seismic data, we found that the RMS of our model is 2.8 km smaller than that of the CRUST 1.0 model, which shows that our model is more accurate.