In the present paper, we consider a model of non-minimal modified Yang-Mills theory in the Friedmann-Robertson-Walker cosmology, in which the Yang-Mills field couples to the scalar curvature through a function of its first invariant. We show that cosmic acceleration can be realized due to non-minimal gravitational coupling of the modified Yang-Mills theory. Besides general study, we consider in detail the case of power-law coupling function. We derive the basic equations for the cosmic scale factor in our model, and provide several examples of their solutions.