Due to the quick development of wide bandgap power devices, the power density of the converters is expected to be much higher. In order to increase the power density and efficiency of the DAB converter, especially the efficiency under light load, a quasi-optimal current root-mean-square (RMS) control strategy to achieve All-ZVS is proposed by taking the inductor RMS current optimization algorithm into account in this paper. First the constraint conditions for realizing ZVS of all switching devices under different operating modes are concluded by analyzing the switching mode and the working principle of the DAB converter under the triple phase shift (TPS) modulation. The ZVS domain for All-ZVS operation in each operating mode is further obtained. Then, the GOC strategy is combined with the ZVS condition to derive the novel modulation for all operating modes. Based on this scheme, the switching conditions of all switches can be improved, and the efficiency of the DAB system under the light load is optimized. With ZVS operation, the switching frequency can be raised. Finally, a GaN HEMT based prototype of DAB converter was built and the switching frequency is 200kHz, the effectiveness of the proposed modulation scheme was verified by the experimental results.