This study intended to evaluate the diagnostic accuracy of the prostate imaging reporting and data system (PI-RADS) and prostate-specific antigen density (PSAD) for clinically significant prostate cancer (csPCa) with PSA levels of 4–10 ng/ml. Between July 2018 and June 2022, a total of 453 patients with PSA levels of 4–10 ng/ml were retrospectively included, which were randomly assigned to the training group (323 patients) and validation group (130 patients). Sensitivity, specificity, positive predictive value (PPV), and negative predictive value (NPV) with their 95% CI were calculated. The overall diagnostic performance was determined with area under the receiver operating characteristic curve (AUC), and an integrated nomogram combining PI-RADS score and PSAD was constructed and tested in a validation cohort. In the training group, the AUC for PI-RADS 2.1 and PSAD alone were 0.875 (95% CI 0.834–0.916) and 0.712 (95% CI 0.648–0.775). At the cutoff PI-RADS score ≥ 4, the sensitivity and specificity were 86.2% (95% CI 77.4–1.9%) and 84.7% (95% CI 79.6–88.8%), respectively. For PSAD, the sensitivity and specificity were 73.3% (95% CI 63.0–82.4%) and 62.1% (95% CI 55.8–68.5%) at the cutoff 0.162 ng/ml/ml. While combining PI-RADS with PSAD, the diagnostic performance was improved significantly, with AUC of 0.893 (95% CI 0.853–0.933). In the validation group, the nomogram yielded a AUC of 0.871 (95% CI 0.807–0.934), which is significantly higher than PI-RADS alone (0.829, 95% CI 0.759–0.899, P = 0.02). For patients with PSA levels of 4–10 ng/ml, PSAD demonstrated moderate diagnostic accuracy whereas PI-RADS showed high performance. By combination of PSAD and PI-RADS together, the diagnostic performance could be improved significantly.