New annealing schedules for quantum annealing are proposed based on the adiabatic theorem. These schedules exhibit faster decrease of the excitation probability than a linear schedule. To derive this conclusion, the asymptotic form of the excitation probability for quantum annealing is explicitly obtained in the limit of long annealing time. Its first-order term, which is inversely proportional to the square of the annealing time, is shown to be determined only by the information at the initial and final times. Our annealing schedules make it possible to drop this term, thus leading to a higher order (smaller) excitation probability. We verify these results by solving numerically the time-dependent Schrödinger equation for small size systems.