Underwater image restoration is a challenging problem because light is attenuated by absorption and scattering in water, which can degrade the underwater image. To restore the underwater image and improve its contrast and color saturation, a novel algorithm based on the underwater dark channel prior is proposed in this paper. First of all, in order to reconstruct the transmission maps of the underwater image, the transmission maps of the blue and green channels are optimized by the proposed first-order and second-order total variational regularization. Then, an adaptive model is proposed to improve the first-order and second-order total variation. Finally, to solve the problem of the excessive attenuation of the red channel, the transmission map of the red channel is compensated by Yin–Yang pair optimization. The simulation results show that the proposed restored algorithm outperforms other approaches in terms of the visual effects, average gradient, spatial frequency, percentage of saturated pixels, underwater color image quality evaluation and evaluation metric.