"Poverty dropped for whites, blacks and Hispanics, as well as for children and seniors," Fessler reports.
The number of people with health insurance also rose. More than 90 percent of Americans are covered by health insurance — an increase of 1.3 percentage points since 2014, and growth of 4.3 percentage points since the major provisions of the Affordable Care Act, the bureau says.
Last year, 29 million people did not have health insurance, representing 9.1 percent of the population.
Across the board, the Census Bureau's 2015 numbers show significant signs of progress and reflect a recovering economy.
The 5.2 percent increase in median household income, in particular, was impressive — "one of the largest year-to-year increases that we've ever had," Trudi Renwick of the Census Bureau said.
The income gains for most Americans are tied to growth in employment, as The Associated Press reports:
"The income gains and drop in poverty reflect ongoing gains in the job market, Renwick said. About 2.4 million more Americans found full-time, year-round jobs in 2015.
"Americans are also likely benefiting from an increase in middle-income jobs. Many of the jobs created in the early years of the recovery have been in low-paying sectors, such as fast food restaurants and retail.
"But according to a report from the Federal Reserve Bank of New York, in 2014 and 2015 the growth of middle-income jobs in sectors such as shipping and construction outpaced the gains in lower-paying and higher-paying work."
Income rose in every region of the country, for every age group of household head, with statistically significant increases for almost every racial group.
But as the New York Times' Nate Cohn points out, rural America didn't experience the same growth as the rest of the country. The median income for people living outside of metropolitan areas dropped 2 percent, to $44,657.
The Census Bureau also looked at economic inequality, where measures did not show any statistically significant changes — even though poorer Americans saw the biggest percentage growth in their incomes.
The difference in income between men and women also did not change by any statistically significant degree. But it did move slightly, from 79 cents on the dollar to 80 cents on the dollar.