Andreae (1986) proved that the cop number of connected $H$-minor-free graphs is bounded for every graph $H$. In particular, the cop number is at most $|E(H-h)|$ if $H-h$ contains no isolated vertex, where $h\in V(H)$. The main result of this paper is an improvement on this bound, which is most significant when $H$ is small or sparse, for instance when $H-h$ can be obtained from another graph by multiple edge subdivisions. Some consequences of this result are improvements on the upper bound for the cop number of $K_{3,t}$-minor-free graphs, $K_{2,t}$-minor-free graphs and linklessly embeddable graphs.