Convolutional neural networks (CNNs) have attracted much research attention and achieved great improvements in single-image dehazing. However, previous learning-based dehazing methods are mainly trained on synthetic data, which greatly degrades their generalization capability on natural hazy images. To address this issue, this article proposes a semi-supervised learning approach for single-image dehazing, where both synthetic and realistic images are leveraged during training. Considering the situation that it is hard to obtain the realistic pairs of hazy and haze-free images, how to utilize the realistic data is not a trivial work. In this article, a domain alignment module is introduced to narrow the distribution distance between synthetic data and realistic hazy images in a latent feature space. Meanwhile, a haze-aware attention module is designed to describe haze densities of different regions in the image, thus adaptively responds for different hazy areas. Furthermore, the dark channel prior is introduced to the framework to improve the quality of the unsupervised learning results by considering the statistical characters of haze-free images. Such a semi-supervised design can significantly address the domain shift issue between the synthetic and realistic data, and improve generalization performance in the real world. Experiments indicate that the proposed method obtains state-of-the-art performance on both public synthetic and realistic hazy images with better visual results.