Keyword searches based on the keywords-to-SPARQL translation is attracting more attention because of a growing number of excellent SPARQL search engines. Current approaches for keyword search based on the keywords-to-SPARQL translation suffer from returning incomplete answers or wrong answers due to a lack of underlying schema information. To overcome these difficulties, in this article, we propose a new keyword search paradigm by translating keyword queries into SPARQL queries for exploring RDF data. An inter-entity relationship summary with complete schema information is distilled from the RDF data graph for composing SPARQL queries. To avoid potentially wasteful summary graph expansion, we develop a new search prioritization scheme by combining the degree of a vertex with the distance from the original keyword element. Starting from the ordered priority list that is built in advance, we apply the forward path index to faster find the top-k subgraphs, which are relevant to the conjunction of the entering keywords. The experimental results show that our approach is efficient and scalable.