This paper presents a Lagrange multiplier-based adaptive droop control to mitigate distribution power loss of parallel-connected distributed energy resource (DER) systems in DC microgrids. The distribution power loss comprising line loss and converter loss can be modelled as a quadratic function of the output currents of the DER systems, which can be optimized by the tertiary-layer Lagrange multiplier method to obtain the optimal output current references for the secondary-layer adaptive droop control. The output currents are compensated by the adaptive droop control to provide output voltage references for the primary-layer local dual-loop control, which is a conventional local control scheme for the regulations of gridconnected DC/DC converters. Both simulation and experimental results validate that the proposed control strategy can reduce the distribution power loss of parallel-connected DER systems in 48 V DC microgrids as compared to the conventional control strategy by only optimizing the line loss in different cases.