This paper addresses the challenges of efficient electric vehicle (EV) charging integration in Direct Current (DC) microgrids (MGs), particularly the impact of intermittent EV loads on power sharing and voltage regulation. Traditional droop control methods suffer from inherent trade-offs between performance indices of parallel distributed energy resources (DERs), which in turn results in improper source utilization. We propose a novel decentralized piece-wise droop control (PDC) approach with voltage compensation for EV charging to overcome this limitation and to minimize the unequal cable resistance effect on power sharing. This strategy dynamically optimises the droop characteristics based on EV charging load profiles, partitioning the droop curve to optimize power sharing accuracy and voltage stability considering the constraints of maximum allowable voltage deviation and loading. Simulation and experimental results demonstrate significant improvements in power sharing, enhanced DER utilization, and voltage deviations consistently within 2.5% when compared with traditional strategies. PDC offers a robust solution for enabling efficient and reliable EV charging in MGs, as it is not sensitive for EV load prediction errors and measurement noise.