In its very essence, a role-playing game is simply a game where the participants assume the roles of characters in a particular setting. Every aspect beyond that changes from game to game. With that said, the genre has strong roots to the pen-and-paper/tabletop RPG, and the aspects associated with those games have permeated within the genre throughout the years.
In modern gaming, those aspects (e.g., statistics, classes, experience, etc.) have spread outside of the genre, largely because the scale of games has increased. Gone are the days where a FPS was simply about shooting. There are FPS games now that include itemization/loot, experience/leveling, character building, and so on, and there are role-playing games that have included modern shooting or action combat. Hell, there are sports games with career modes that rival the most traditional RPGs in terms of "RPG elements".
I personally prefer the simple definition that a role-playing game is a game where the player not only assumes a role in a game, but has a certain degree of influence on playing the role (i.e., some combination of dialogue choice, character building, etc.).