Nuclear β-decay half-lives play an important role not only in nuclear physics, but also in astrophysics. The β-decay half-lives of many nuclei involved in the astrophysical rapid neutron-capture (r -process) still cannot be measured experimentally, so the theoretical predictions of nuclear β-decay half-lives are inevitable for r-process studies. Theoretical models for studying the nuclear β-decay half-lives include the empirical formula, the gross theory, the quasiparticle random phase approximation (QRPA), and the shell model. Compared with other theoretical models of β-decay half-lives, the empirical formula has high computational efficiency, and its prediction accuracy can be improved by introducing more and more physical information. In this work, an empirical formula without free parameters is proposed to calculate the nuclear β-decay half-lives based on the Fermi theory of β decay. By including the pairing effect, the shell effect, and the isospin dependence, the newly proposed empirical formula significantly improves the accuracy of predicting the nuclear β-decay half-life. For the nuclei with half-lives less than 1 second, the root-mean-square deviation of the common logarithms of the nuclear β-decay half-life predicted by the new empirical formula from the experimental data decreases to 0.220, which is improved by about 54% compared with that by the empirical formula without free parameters, even better than those by other existing empirical formulas and microscopic QRPA approaches. In the unknown region, the nuclear β-decay half-lives predicted by the new empirical formula are generally shorter than those predicted by the microscopic models in the light nuclear region, while those predicted by the new empirical formula in the heavy nuclear region are generally in agreement with those predicted by the microscopic models. The half-lives of neutron-rich nuclei on the nuclear chart are then predicted by the new empirical formula, providing nuclear β-decay half-life inputs for the r-process simulations.