An envelope tracking radio frequency (RF) power amplifier having an adaptive envelope signal processing circuit is disclosed. An RF input voltage is sampled by the adaptive envelope signal processing circuit which provides control signals to the power supply which supplies voltages to RF power devices in order to simultaneously satisfy two operating conditions: a) provide best possible efficiency of the power amplifier stages depending on the input signal characteristics and b) provide compensation for RF transistor AM-AM and AM-PM distortion compensation across the power range. In particular, the voltage control provides for constant power amplifier gain across the input signal dynamic range, thus minimizing power amplifier amplitude distortions and extending the useful power amplifier linear dynamic range up to saturation point. The power amplifier thus exhibits better linearity and efficiency than offered by conventional techniques and topologies.