We present a theoretical and experimental investigation of the improvement and determination of the sensitivity of Rydberg atom-based microwave RF sensor. An optical Bloch equation has been set up based on the configuration that two-color cascading lasers exciting atom to highly Rydberg state and a microwave RF coupling this Rydberg state to its adjacent neighbor. The numerical simulation shows that the sensitivity of the atomic RF sensor is correlated with the amplitude strengths of the applied two lasers and the RF itself. It also depends on the frequency detuning of the coupling laser, which induces an asymmetrically optical splitting. The coupling laser frequency fixing at the shoulder of the stronger one is more favorable for a higher sensitivity. Accordingly, we perform an experimental demonstration for the optimization of all these parameters and the sensitivity is improved to 12.50(04) ${\mathrm{nVcm}}^{-1}$·Hz${}^{-1/2}$.