This paper proposes a novel extended-single-phase shift (ESPS) control strategy of isolated bidirectional full-bridge DC-DC converters (IBDCs) which are a promising alternative as a power electronic interface in microgrids with an additional function of galvanic isolation. Based on the mathematical models of ESPS control under steady-state conditions, detailed theoretical and experimental analyses of IBDC under ESPS control are presented. Compared with conventional single-phase-shift (CSPS) control, ESPS control can greatly improve the efficiency of IBDCs in microgrids through decreasing current stress and backflow power considerably over a wide input and output voltage range under light and medium loads. In addition, ESPS control only needs to adjust one single phase-shift angel to control transmission power, thus it retains implementation simplicity in comparison with dual-phase-shift (DPS) control for microgrid applications. Furthermore, an efficiency-optimized modulation scheme based on ESPS and CSPS control is developed in the whole power range of IBDC for power distribution in microgrids. A 10 kW IBDC prototype is constructed and the experimental results validate the effectiveness of the proposed control strategy, showing that the proposed strategy can enhance the overall efficiency up to 30%.