This paper presents an energy-efficient wireless power receiver for implantable electrical stimulation applications, which can achieve one-step adiabatic bipolar-supply that is generated by a hybrid single-stage dual-output regulating (SSDOR) rectifiers. The structure using only four switches overcomes the disadvantages that the two output voltage values in the traditional dual-output rectifiers are close to each other. A constant-current (CC) controlled adiabatic dynamic voltage scaling (DVS) technique is proposed to minimize the voltage headroom of the stimulating drivers and improve the stimulation efficiency significantly. In addition, the receiver adopts only one general constant on-time (COT) low-frequency control to adjust the stimulation current, reducing both the power consumption and the complexity of the control circuits. The proposed receiver has been fabricated in a 0.18 μm BCD process with ±6 V voltage compliance and 2.5 mA maximum stimulating current. With a current range from ±1.5 mA to ±2.5 mA, the measured maximum average headroom voltage is only 80 mV and the peak total efficiency of the receiver is 85.6%. The functionalities of the proposed receiver have been successfully verified through in vitro experiments.