To significantly reduce switching loss of the high frequency inverter in battery wireless charger (BWC), improve the soft-switching stability and system reliability, a novel soft-switching BWC with low loss auxiliary network and reconfigurable rectifier is presented. The presented soft-switching BWC can implement the smooth switching between constant current mode and constant voltage mode without frequency switching and relays, which is beneficial to enhancing the system stability. With the help of a novel low energy consumption auxiliary circuit, the power switch tubes in the H-bridge inverter can implement zero-voltage soft switch-on and zero-current soft switch-off in the full range, completely eliminating switching loss of the inverter. The proposed scheme can enhance the system efficiency while refraining from the soft-switching range limitation and soft-switching failure caused by the system parameter perturbation. Finally, a 1-kW soft-switching BWC principle prototype is developed to validate the effectiveness and correctness of the proposed scheme.