We suggest an improved version of the Robertson–Schrödinger uncertainty relation for canonically conjugate variables by taking into account a pair of characteristics of states: non-Gaussianity and mixedness quantified by using fidelity and entropy, respectively. This relation is saturated by both Gaussian and Fock states and provides a strictly improved bound for any non-Gaussian states or mixed states. For the case of Gaussian states, it is reduced to the entropy-bounded uncertainty relation derived by Dodonov. Furthermore, we consider readily computable measures of both characteristics and find a weaker but more readily accessible bound. With its generalization to the case of two-mode states, we show applicability of the relation to detect entanglement of non-Gaussian states.