phases is one of the promising candidates. However, the longer gate time for geometric operations and more physical-implementation difficulties hinder its practical and wide applications. Here, we propose a simplified implementation of universal holonomic quantum gates on superconducting circuits with experimentally demonstrated techniques, which can remove the two main challenges by introducing the time-optimal control into the construction of quantum gates. Remarkably, our scheme is also based on a decoherence-free subspace encoding, with minimal physical qubit resource, which can further immune to error caused by qubit-frequency drift, which is regarded as the main error source for large scale superconducting circuits. Meanwhile, we deliberately design the quantum evolution to eliminate gate error caused by unwanted leakage sources. Therefore, our scheme is more robust than the conventional ones, and thus provides a promising alternative strategy for scalable fault-tolerant quantum computation.