Cubic phase Li7La3Zr2O12 (LLZO) is a promising electrolyte material for all-solid-state rechargeable lithium-ion batteries. The homogeneous densification of the garnet solid electrolyte ceramic material is crucial for enhancing its ionic conductivity performance. Herein, an Al/Ta co-doped strategy is employed to stabilize the cubic phase structure of LLZO and is combined with a two-step sintering method to enhance densification, in order to investigate its effect on microstructure, ionic conductivity, and electrochemical properties. During the formation process, amorphous Li2O reacts with doped Al2O3 to create a Li–Al–O liquid phase at the grain boundaries. Combined with two-step sintering to ensure that the desired material transformation is achieved, resulting in a dense microstructure and better mechanical properties. The solid electrolyte Li6.4Al0.1La3Zr1.7Ta0.3O12 under two-step sintering (LLZATO-2) is successfully synthesized, delivering an ionic conductivity up to 7.33 × 10−4 S cm−1 at room temperature and an activation energy of 0.22 eV. This work also highlights the critical role of co-doping combined with two-step sintering in preparing well-performing solid-state electrolytes and all-solid-state lithium-ion batteries.