A lithium niobate on an insulator ridge waveguide allows constructing high-density photonic integrated circuits thanks to its small bending radius offered by the high index contrast. Meanwhile, the significant mode-field mismatch between an optical fiber and the single-mode lithium niobate waveguide leads to low coupling efficiencies. Here, we demonstrate, both numerically and experimentally, that the problem can be solved with a tapered single mode fiber of an optimized mode field profile. Numerical simulation shows that the minimum coupling losses for the TE and TM mode are 0.32 dB and 0.86 dB, respectively. Experimentally, though without anti-reflection coating, the measured coupling losses for TE and TM mode are 1.32 dB and 1.88 dB, respectively. Our technique paves a way for a broad range of on-chip lithium niobate applications.