Dynamic voltage and frequency scaling (DVFS) is an essential mechanism for power saving in smartphones and mobile devices. Central processing unit (CPU) load based DVFS algorithms are widely used due to their simplicity of implementation. However, such algorithms often lead to a poor response time, which is one of the most important factors of user experience, especially for interactive applications. In this paper, the response time is mathematically modeled by considering the CPU frequency and characteristics of the running applications based on the Linux kernel's completely fair scheduler (CFS), and a Response time constrained Frequency & Priority (RFP) control scheme for improved power efficiency of smartphones is proposed. In the RFP algorithm, the CPU frequency and priority of the interactive applications are adaptively adjusted by estimating the response time in real time. The experimental results show that RFP can save energy up to 24.23% compared to the ondemand governor and up to 7.74% compared to HAPPE while satisfying the predefined threshold of the response time in Android-based smartphones.