This paper presents a dual-mode DC-DC buck converter including a load-dependent, efficiency-controllable scheme to support multi-purpose IoT applications. For light-load applications, a selectable adaptive on-time pulse frequency modulation (PFM) control is proposed to achieve optimum power efficiency by selecting the optimum switching frequency according to the load current, thereby reducing unnecessary switching losses. When the inductor peak current value or converter output voltage ripple are considered in some applications, its on-time can be adjusted further. In heavy-load applications, a conventional pulse width modulation (PWM) control scheme is adopted, and its gate driver is structured to reduce dynamic current, preventing the current from shooting through the power switch. A proposed dual-mode buck converter prototype is fabricated in a 180 nm CMOS process, achieving its measured maximum efficiency of 95.7% and power density of 0.83 W/mm2.