Turbulence is not completely random, but contains organized and multi-scale structures. Vortices have always been recognized as the most important coherent structure in turbulent flow, playing a significant role in the generation, evolution, and maintenance of turbulence. In the present work, the vortex formation and evolution process of a fully developed turbulent boundary layer in a rectangular channel flow is experimentally studied by moving-single frame and long exposure and moving-particle image velocimetry measurements. The Rortex integral (RI) method is proposed for quantitative statistics on the critical vortex core size as well as the accurate rotation strength during the evolution process. In this paper, the vortex regeneration and self-maintenance mechanisms in near-wall turbulent flow are experimentally revealed and quantified by the RI method, to give some revelations for the future research on the turbulence theory. On the one hand, three behaviors of the hairpin vortex regeneration are discovered to play a significant role in turbulence development: (A) hairpin regeneration induced by the interaction between hairpins and packets; (B) auto-generation of multiple hairpin vortex in one packet (secondary and tertiary hairpins); and (C) the merging of hairpin vortices in the packets. On the other hand, the circulation process, which contains a mass of young vortex growth with the parent self-decaying, is verified to sustain and promote the development of turbulence. In consequence, the self-sustaining turbulence theory based on mother–child hairpins generation mechanism is supported by the experimental results.