We demonstrate low-loss slot waveguides on silicon-on-insulator platform. Waveguides oriented along the (11-2) direction on the Si (110) plane were first fabricated by a standard e-beam lithography and dry etching process. A tetramethylammonium hydroxide-based anisotropic wet etching technique was then used to remove any residual side wall roughness. Using this fabrication technique, propagation loss as low as 3.7 dB/cm was realized in silicon slot waveguide for wavelengths near 1550 nm. We also realized low propagation loss of 1 dB/cm for silicon strip waveguides.