As the most important city in China, Beijing has experienced an economic soar, large-scale population growth and eco-environment changes in the last 20 years. Evaluating climate- and human-induced vegetation changes could reveal the relationship of vegetation-climate-human activities and provide important insights for the coordination of economic growth and environmental protection. Based on a long-term MODIS vegetation index dataset, meteorological data (temperature, precipitation) and impervious surface data, the Theil-Sen regression and the Mann-Kendall method are used to estimate vegetation change trends in this study and the residual analysis is utilized to distinguish the impacts of climate factors and human activities on vegetation restoration and degradation from 2000 to 2019 in Beijing. Our results show that the increasing vegetation areas account for 80.2% of Beijing. The restoration of vegetation is concentrated in the urban core area and mountainous area, while the degradation of vegetation is mainly concentrated in the suburbs. In recent years, the vegetation in most mountainous areas has changed from restoration to significant restoration, indicating that the growth of mountain vegetation has continued to restore. We also found that in the process of urban expansion, vegetation browning occurred in 53.1% of the urban built-up area, while vegetation greening occurred in the remaining area. We concluded that precipitation is the main climatic factor affecting the growth of vegetation in Beijing’s mountainous areas through correlation analysis. Human activities have significantly promoted the vegetation growth in the northern mountainous area thanks to the establishment of environmental protection areas. The negative correlation between vegetation and the impervious surface tends to gradually expand outwards, which is consistent with the trend of urban expansion. The positive correlation region remains stable, but the positive correlation is gradually enhanced. The response of vegetation to urbanization demonstrated a high degree of spatial heterogeneity. These findings indicated that human activities played an increasingly important role in influencing vegetation changes in Beijing.