Family-based association studies have been widely used to identify association between diseases and genetic markers. It is known that genotyping uncertainty is inherent in both directly genotyped or sequenced DNA variations and imputed data in silico. The uncertainty can lead to genotyping errors and missingness and can negatively impact the power and Type I error rates of family-based association studies even if the uncertainty is independent of disease status. Compared with studies using unrelated subjects, there are very few methods that address the issue of genotyping uncertainty for family-based designs. The limited attempts have mostly been made to correct the bias caused by genotyping errors. Without properly addressing the issue, the conventional testing strategy, i.e. family-based association tests using called genotypes, can yield invalid statistical inferences. Here, we propose a new test to address the challenges in analyzing case-parents data by using calls with high accuracy and modeling genotype-specific call rates. Our simulations show that compared with the conventional strategy and an alternative test, our new test has an improved performance in the presence of substantial uncertainty and has a similar performance when the uncertainty level is low. We also demonstrate the advantages of our new method by applying it to imputed markers from a genome-wide case-parents association study.