The present invention provides a pipelined-successive approximation register (SAR) analog-to-digital converter(ADC) circuit with decoupled flip-around MDAC, capacitive attenuation solution and self-embedded offset cancellation. The flip-around MDAC architecture is built for low inter-stage gain implementation. A capacitive attenuation solution is provided for minimizing the power dissipation and optimizing conversion speed. The design reuses SAR ADC to perform offset cancellation, which significantly saves calibration area, power and time.