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In emerging wireless sensor networks application, localization issue attracts the most attention in recent years. DV-Hop algorithm is a typical range free nodes localization algorithm in WSNs but the localization accuracy of sensor nodes is still low for some applications. In this paper, an improved algorithm based on DV-Hop algorithm is proposed. In the improved algorithm, the localization accuracy is increased from two aspects. Firstly, the improved algorithm proposes a new method and calculates the average hop distance. Secondly, the improved algorithm increases the numerical computation accuracy and improves the stability of the operation by solving the equations through QR decomposition. The simulation results show that the improved algorithm is superior in localization accuracy than DV-Hop algorithm.