The modified nonlinear Schr\"{o}inger (NLS) equation was proposed to describe the nonlinear propagation of the Alfven waves and the femtosecond optical pulses in a nonlinear single-mode optical fiber. In this paper, the inverse scattering transform for the modified NLS equation with non-vanishing asymptotic boundary at infinity is presented. An appropriate two-sheeted Riemann surface is introduced to map the original spectral parameter \(k\) into a single-valued parameter \(z\). The asymptotic behaviors, analyticity and the symmetries of the Jost solutions of Lax pair for the modified NLS equation, as well as the spectral matrix are analyzed in details. Then a matrix Riemann-Hilbert (RH) problem associated with the problem of nonzero asymptotic boundary conditions is established, from which \(N\)-soliton solutions is obtained via the corresponding reconstruction formulae. As an illustrate examples of \(N\)-soliton formula, two kinds of one-soliton solutions and three kinds of two-soliton solutions are explicitly presented according to different distribution of the spectrum. The dynamical feature of those solutions are characterized in the particular case with a quartet of discrete eigenvalues. It is shown that distribution of the spectrum and non-vanishing boundary also affect feature of soliton solutions. Finally, we analyze the differences between our results and those on zero boundary case.