MOTIVATION: Normalization of single-cell RNA-sequencing (scRNA-seq) data is a prerequisite to their interpretation. The marked technical variability, high amounts of missing observations and batch effect typical of scRNA-seq datasets make this task particularly challenging. There is a need for an efficient and unified approach for normalization, imputation and batch effect correction. RESULTS: Here, we introduce bayNorm, a novel Bayesian approach for scaling and inference of scRNA-seq counts. The method's likelihood function follows a binomial model of mRNA capture, while priors are estimated from expression values across cells using an empirical Bayes approach. We first validate our assumptions by showing this model can reproduce different statistics observed in real scRNA-seq data. We demonstrate using publicly available scRNA-seq datasets and simulated expression data that bayNorm allows robust imputation of missing values generating realistic transcript distributions that match single molecule fluorescence in situ hybridization measurements. Moreover, by using priors informed by dataset structures, bayNorm improves accuracy and sensitivity of differential expression analysis and reduces batch effect compared with other existing methods. Altogether, bayNorm provides an efficient, integrated solution for global scaling normalization, imputation and true count recovery of gene expression measurements from scRNA-seq data. AVAILABILITY AND IMPLEMENTATION: The R package 'bayNorm' is publishd on bioconductor at https://bioconductor.org/packages/release/bioc/html/bayNorm.html. The code for analyzing data in this article is available at https://github.com/WT215/bayNorm_papercode. SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.