A novel non-isolated bidirectional soft-switching SEPIC/ZETA converter with reduced ripple currents is proposed and characterized in this study. Two auxiliary switches and an inductor are added to the original bidirectional SEPIC/ZETA components to form a new direct power delivery path between input and output. The proposed converter can be operated in the forward SEPIC and reverse ZETA modes with reduced ripple currents and increased voltage gains attributed to the optimized selection of duty ratios. All switches in the proposed converter can be operated at zero-current-switching turn-on and/or turn-off through soft current commutation. Therefore, the switching and conduction losses of the proposed converter are considerably reduced compared with those of conventional bidirectional SEPIC/ZETA converters. The operation principles and characteristics of the proposed converter are analyzed in detail and verified by the simulation and experimental results.