Generally the smartphone camera is not the most ideal camera to be used in a low light condition, although the quality of the sensor found in the latest and greatest mobile phone today is vastly superior to what we found a couple of years ago.  These new generation of sensors definitely help improving the ability of the camera to take better and brighter in twilight.

Having said that, there are a couple of tips that we can use to improve and help our mobile phone to take a better low-light photos:

Put more light

When there is less light, put more light.  Traditionally with SLR you would use a Flash gun to do such a thing.  In mobile you can do similar thing using one of these portable LED Light, such as one you can find in Manfrotto Klyp+ series (hands one review: Manfrotto Klyp+ A One-Man-Band Mobile Photo Studio)

Use Tripod

One of the issue with pictures taken in a low light condition is that they tend to become blurry, this is because the camera is trying to compensate the lack of light by lowering the shutter speed, and this make the camera prone to shake.

To eliminate shake, you can use a tripod.  There are plenty of tripods you can find in the market that cater especially for mobile photography, I have reviewed some of them here:

Use Self-Timer or Remote Shutter

In conjunction with a tripod you should use the Self-Timer or mobile Remote Shutter to completely eliminate shake.

Again there are couple of remote shutter release you can find that can be used with mobile phone (some reviews here:

Use Better Camera App (iOS)

This following tips is only for iOS.

The standard iOS camera app is very good, but it still lacks some advance feature.  Get one of these replacement to give you a total control of your Shutter Speed, Exposure and White Balance.