Communications for IoT sensor networks in Smart City applications are demanding new technologies to avoid the radio frequency spectrum saturation and support the massive nodes situation required in this kind of network. Visible Light Communications are gaining interest as an alternative scheme for solving this problem. In particular, Optical Camera Communication (OCC) takes advantage of the presence of cameras in a wide range of devices (smartphones, surveillance systems). Several transmission and modulation schemes, specifically developed for OCC, have been proposed but they present different problems as the communication range, the flickering effects in the transmitted signal, or the system complexity. In this work, an Optical Camera Communication modulation scheme that addresses the considerable variability of the transmitter–receiver distance is proposed. As will be shown, the modulation scheme works properly independently of this separation for a wide range of distances. Additionally, it performs a flickering free transmission to avoid undesired blinking effects for humans and uses a simplified transmission and reception scheme, reducing the system complexity and cost. Results of the modulation’s performance for short (<20 m), medium (20–60 m), and long (>60 m) ranges are presented in the paper, showing a 16 bps transmission rate with Bit Error Rate below the Forward Error Correction (FEC) limit (3.8 · 10−3).