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The success of electric vehicles (EVs) depends principally on their energy storage system. Lithium-ion batteries currently feature the ideal properties to fulfil the wide range of prerequisites specific to electric vehicles. Meanwhile, the precise estimation of batteries’ state of health (SoH) should be available to provide the optimal performance of EVs. This study attempts to propose a precise, real-time method to estimate lithium-ion state of health when it operates in a realistic driving condition in the presence of dynamic stress factors. To this end, a real-life driving profile was simulated based on highly dynamic worldwide harmonized light vehicle test cycle load profiles. Afterward, various features will be extracted from voltage data and they will be scored based on prognostic metrics to select diagnostic features which can conveniently identify battery degradation. Lastly, an ensemble learning model was developed to capture the correlation of diagnostic features and battery’s state of health (SoH). The result illustrates that the proposed method has the potential to estimate the SoH of battery cells aged under a distinct depth of discharge and current profile with a maximum error of 1%. This confirms the robustness of the developed approach. The proposed method has the capability of implementing in battery management systems due to many reasons; firstly, it is tested and validated based on the data which are equal to the real-life driving operation of an electric vehicle. Secondly, it has high accuracy and precision, and a low computational cost. Finally, it can estimate the SoH of battery cells with different aging patterns.