The reliability of the resistor-capacitor (RC) time constant of a continuous-time (CT) filter has long been an obstacle with integrated circuits. Due to process and temperature variations in complementary metal-oxide semiconductor (CMOS) technology, the absolute value of the RC time constant may vary over ±50%, which is a big issue for many integrated continuous-time analog circuits. This study proposes an on-chip RC time constant auto-tuning scheme. The proposed scheme is based on the discrete master–slave auto-tuning concept. Considering the limitations in conventional works, a higher tuning accuracy is achieved by adopting two techniques: firstly, parasitic capacitance cancelation is proposed to eliminate the effects caused by parasitic capacitance; secondly, symmetric comparison is introduced to minimize the influence of the DC offset of the comparator. A successive approximation procedure is applied to improve the tuning speed. The proposed auto-tuning scheme has been validated in 55 nm CMOS technology with a fourth-order active-RC low-pass filter under PVT variations and 60 mV input offset voltage. The average tuning error is 2.21%, and the maximum error is 3.67%. The tuning error of the proposed scheme is considerably lower than the conventional scheme.