Trapping sets have been identified as one of the main factors causing error floors of low-density parity-check (LDPC) codes at high SNR values. By adding several new rows to the original parity-check matrix, a novel method is proposed to eliminate small trapping sets in the LDPC code's Tanner graph. Based on this parity-check matrix extension, we design new codes with low error floors from the original irregular LDPC codes. Simulation results show that the proposed method can lower the error floors of irregular LDPC codes significantly at high SNR values over AWGN channels.