Frequency-domain multiplexing is a readout technique for transition-edge sensor bolometer arrays used on modern cosmic microwave background experiments, including the SPT-3G receiver. Here, we present design details and performance measurements for a low-parasitic frequency-domain multiplexing readout. Reducing the parasitic impedance of the connections between cryogenic components provides a path to improve both the crosstalk and noise performance of the readout. Reduced crosstalk will in turn allow higher-multiplexing factors. We have demonstrated a factor of two improvement in parasitic resistance compared to SPT-3G hardware. Reduced parasitics also permits operation of lower-resistance bolometers optimized for improved readout noise performance. We demonstrate that a module in the prototype system has comparable readout noise performance to an SPT-3G module when operated with dark TES bolometers in the laboratory.