Lithium-ion batteries, as the main energy storage component of electric vehicles (EVs), play a crucial role in ensuring the safe and reliable operation of the battery systems through monitoring their state of health (SOH). However, temperature variations and battery aging have significant impacts on the internal parameters of lithium-ion batteries, and these changes directly correlate with the accuracy of battery SOH estimation. To address these issues, this paper proposes an estimation method for lithium-ion battery SOH that considers the impact of temperature. The method begins with reconstructing a second-order hybrid equivalent circuit model for lithium-ion batteries, through which an adaptive update rate for battery model parameters is designed. On this basis, a nonlinear observer for battery states is introduced by integrating filters to estimate SOH. The proposed method considers the impact of capacity in the design of the parameter adaptive update rate, enabling the capacity to be dynamically adjusted based on the actual state of the batteries. This reduces the cumulative error in the SOC observer and improves the modeling accuracy of battery models. Experimental results demonstrate that the method proposed in this paper exhibits exceptional performance in SOH estimation under different temperature conditions. The mean absolute error for SOH estimation does not exceed 0.5%, and the root mean square error does not exceed 0.2%. This method can significantly improve the estimation accuracy of SOH, providing a more efficient and accurate solution for battery management systems in EVs.