The main goal of this contribution is to provide an improved mixed finite element for quasi-incompressible linear elasticity. Based on a classical least-squares formulation, a modified weak form with displacements and stresses as process variables is derived. This weak form is the basis for a finite element with an advanced fulfillment of the momentum balance and therefore with a better performance. For the continuous approximation of stresses and displacements on the triangular and tetrahedral elements, lowest-order Raviart–Thomas and linear standard Lagrange interpolations can be used. It is shown that coercivity and continuity of the resulting asymmetric bilinear form could be established with respect to appropriate norms. Further on, details about the implementation of the least-squares mixed finite elements are given and some numerical examples are presented in order to demonstrate the performance of the proposed formulation.