We present a distance measurement to the semi-regular variable star RX Bootis (RX Boo). Using the VLBI Exploration of Radio Astrometry (VERA) telescope, we conducted astrometric observations of a water maser spot associated with RX Boo, as well as of the continuum reference source J1419+2706. Based on monitoring observations covering a full year, the annual parallax of RX Boo was measured at 7.31 ± 0.50 mas, corresponding to a distance of 136+10−9 pc. This distance uncertainty is smaller by a factor of two than those previously published, allowing us to determine the object's stellar properties more accurately. Using our distance, we can determine the absolute magnitude and discuss more precisely the locus of RX Boo on the period–luminosity (PL) relation. RX Boo exhibits two simultaneous pulsation periods and is located on the fundamental and first overtone Mira sequences of the PL relation. In addition, we calculated the radius and mass of the star.