An improved Euclidean geometry approach to design quasi-cyclic (QC) Low-density parity-check (LDPC) codes with high-rate and low error floor is presented. The constructed QC-LDPC codes with high-rate have lower error floor than the original codes. The distribution of the minimum weight codeword is analyzed, and a sufficient existence condition of the minimum weight codeword is found. Simulations show that a lot of QC-LDPC codes with lower error floor can be designed by reducing the number of the minimum weight codewords satisfying this sufficient condition.