The stimulated Raman adiabatic passage shows an efficient technique that accurately transfers population between two discrete quantum states with the same parity in three-level quantum systems based on adiabatic evolution. This technique has widely theoretical and experimental applications in many fields of physics, chemistry, and beyond. Here, we present a general approach to robust stimulated Raman shortcut-to-adiabatic passage with invariant-based optimal control. By controlling the dynamical process, we inversely design a family of Hamiltonians with non-divergent Rabi frequencies that can realize fast and accurate population transfer from the first to the third level, while the systematic errors are largely suppressed in general. Furthermore, a detailed trade-off relation between the population of the intermediate state and the amplitudes of Rabi frequencies in the transfer process is illustrated. These results provide an optimal route toward manipulating the evolution of three-level quantum systems in future quantum information processing.