For coupled modified Korteweg-de Vries (mKdV) equation, we construct a new Darboux transformation (DT), whose Darboux matrix TN and transformed solutions q[N], r[N] are explicitly given in determinant form. When the reduction condition r=q* is imposed on the new DT and a periodic non-zero seed solution is considered, we obtain determinant representation of dark N-soliton solutions for the defocusing mKdV equation. Especially, we show that dark 1-soliton and dark 2-soliton are both smooth solutions, and furthermore, we show that dark N-soliton solutions are smooth at least on a certain domain.