"The 2016 real median earnings of men ($56,640) and women ($41,554) who worked full-time, year-round were not statistically different from their respective 2015 medians," the Census Bureau's report says.
There are fewer people living in poverty, with 12.7 percent in 2016 compared to 13.5 percent in 2015.
The number of those without health care coverage is also down.
Family households have a real median income of $75,062, and non-family households bring in $35,761. Both of those are increases over the previous year.
Non-Hispanic, white households have a real median income of $65,041, while black households have a median of $39,490. Hispanic households have a real median income of $47,675.
Regionally, the Northeastern United States has the highest median household income at $64,390. It's followed by the West ($64,375), then the Midwest at $58,305 and the South ($53,861).