Most studies concerning requirement elicitation and evaluation for product-service systems (PSSs) disregard the importance of completeness and the preferences of different stakeholders. In order to address these issues, a novel requirement elicitation and evaluation framework for PSSs is proposed. First, a new requirement elicitation method based on contextual matching is introduced to capture the complete PSS requirements. Second, a hybrid decision-making method that considers the preferences of users and enterprise experts, as well as the uncertainty and stochasticity during the decision-making process, is proposed to determine the prioritization of PSS requirements. Finally, an illustrative case study of an automatic guided vehicle PSS (AGV-PSS) is demonstrated to examine and justify the proposed framework and methods.