The variational quantum eigensolver (VQE) framework has been instrumental in advancing near-term quantum algorithms. However, parameter optimization remains a significant bottleneck for VQE, requiring a large number of measurements for successful algorithm execution. In this paper, we propose sequential optimization with approximate parabola (SOAP) as an efficient and robust optimizer specifically designed for parameter optimization of the unitary coupled-cluster ansatz on quantum computers. SOAP leverages sequential optimization and approximates the energy landscape as quadratic functions, minimizing the number of energy evaluations required to optimize each parameter. To capture parameter correlations, SOAP incorporates the average direction from previous iterations into the optimization direction set. Numerical benchmark studies on molecular systems demonstrate that SOAP achieves significantly faster convergence and greater robustness to noise compared with traditional optimization methods. Furthermore, numerical simulations of up to 20 qubits reveal that SOAP scales well with the number of parameters in the ansatz. The exceptional performance of SOAP is further validated through experiments on a superconducting quantum computer using a 2-qubit model system.