Lithium-ion batteries are widely used in energy storage, small electronic devices and other fields due to their advantages of high energy density and long life cycles, as well as causing less damage to the environment than alternatives. For safety, it is essential to propose reasonable methods to assess batteries’ health statuses. Therefore, a health assessment model based on the evidential reasoning (ER) rule is proposed in this article. Firstly, the voltage rise time and the current fall time are taken as observation indicators, which contain information about the health status of lithium-ion batteries. Secondly, the information of various indicators is integrated into a belief structure, and the indicator reliability and indicator weights are adequately considered in the assessment model. Thirdly, there are some perturbations that will affect the operating status of batteries and cause the batteries’ reliability to fluctuate, so we use perturbation analysis to determine the adaptability of batteries to perturbations. We set two bounded parameters, the perturbation coefficient and the maximum perturbation error, to assess the reliability of lithium-ion batteries when experiencing perturbations. Finally, on the basis of the whole-life open data set of lithium-ion batteries from the National Aeronautics and Space Administration’s Prognostics Center of Excellence, the validity of the health assessment model and perturbation analysis is demonstrated.