We study quantum phase transitions in Heisenberg antiferromagnetic chains with a staggered power-law decaying long-range interactions. Employing the density-matrix renormalization group (DMRG) algorithm and the fidelity susceptibility as the criticality measure, we establish more accurate values of quantum critical points than the results obtained from the spin-wave approximation, quantum Monte Carlo, and DMRG in literatures. The deviation is especially evident for strong long-range interactions. We extend isotropic long-range interactions to the anisotropic cases and find that kaleidoscope of quantum phases emerge from the interplay of anisotropy of the long-range exchange interaction and symmetry breaking. We demonstrate nonfrustrating long-range interactions induce the true long-range order in Heisenberg antiferromagnetic chains with a continuous symmetry breaking, lifting the restrictions imposed by the Mermin-Wagner theorem.