Ordered successive interference cancellation (OSIC) detection has been investigated to mitigate the high spatial correlation for multiple-input multiple-output (MIMO) visible light communication (VLC) systems. However, existing OSIC schemes have to perform reordering and matrix inversion for each detected symbol, which may lead to high complexity when a large number of symbols are transmitted. In this work, a joint design of ordered QR decomposition precoding and SIC detection (OQR-SIC) is proposed for MIMO VLC systems. This work jointly investigates OQR precoding and SIC detection to reduce the detection complexity while alleviating spatial correlation issue for MIMO VLC systems. In OQR-SIC, with the upper triangular matrix obtained by QR decomposition, the SIC detector can detect the symbol sequentially without reordering and matrix inversion calculations. To improve the system data rate, we further optimize the ordering of the columns of the channel matrix before QR decomposition and the power allocation of transmitted signals under the constraints of dimming control, total electrical power and reliable SIC detection. Simulation results demonstrate that the proposed OQR-SIC achieves 2 dB and 9.8 dB signal-to-noise ratio gains compared to conventional QR-SIC in 4 × 4 and 9 × 9 MIMO VLC systems, respectively, when the bit error rate is 10-3.