Urbanization is essential for achieving rapid development. In this process, the labor outmigration from rural areas to cities caused by urbanization has diversified the impacts on the robustness of the rural social-ecological system. However, existing research has rarely discussed the internal mechanism of the response of the rural social-ecological system to the impact of urbanization. Based on the coupled infrastructure systems framework, in this paper, the internal interactions of the rural social-ecological system responding to the impact of urbanization are discussed. An empirical test is conducted using survey data from 123 villages of 14 Chinese provinces. Focusing on the specific practice of China, this paper further discusses how the robustness of the rural social-ecological system can be ensured under external impact. The main conclusions are as follows: under the impact of urbanization, the internal interaction paths with which the rural social-ecological system maintains robustness at the operational level are not unique. These different internal interaction paths may not only make the rural social-ecological system automatically realize a virtuous and robust cycle under the impact of urbanization, they may also cause a gradual collapse of the rural social-ecological system. Further, the discussion of China’s specific practice shows that it is key to provide institutional rules to guarantee the operational processes through the collective-choice process, thus ensuring the robustness of the rural social-ecological system under the impact of urbanization. The inspection of the interaction mechanisms in this study may obtain some restricted views on the general laws that may be contained in the complex interaction within the rural social-ecological system, and provide a theoretical basis developing countries can apply to realize rural revitalization when faced with the irreversible wave of urbanization.