In recent years, more and more applications of video communication over the Internet have been extended, so the demand for reliable transmission of compressed video in a packet loss environment is ever increasing. Rate-Distortion optimized mode selection is a fundamental problem of video communication over packet-switched networks, but the classical R-D method only considers quantization distortion in the source and hence it cannot achieve global optimality. Here we introduce a new global R-D optimal Macro-Block coding mode decision scheme for the new H.26L video compression standard. Based on the Internet packet loss model of Bernoulli and Gilbert, this R-D mode decision approach can result in better error robustness than classical method. Furthermore, our experimental results also demonstrate its superior adaptive error resilience and feasibility.