Abstract We propose a uniform block-diagonal preconditioner for condensed $H$(div)-conforming hybridizable discontinuous Galerkin schemes for parameter-dependent saddle point problems, including the generalized Stokes equations and the linear elasticity equations. An optimal preconditioner is obtained for the stiffness matrix on the global velocity/displacement space via the auxiliary space preconditioning technique (Xu (1994) The Auxiliary Space Method and Optimal Multigrid Preconditioning Techniques for Unstructured Grids, vol. 56. International GAMM-Workshop on Multi-level Methods (Meisdorf), pp. 215–235). A spectrally equivalent approximation to the Schur complement on the element-wise constant pressure space is also constructed, and an explicit computable exact inverse is obtained via the Woodbury matrix identity. Finally, the numerical results verify the robustness of our proposed preconditioner with respect to model parameters and mesh size.