Lithium-ion batteries are important energy storage materials, and the prediction of their remaining useful life has practical importance. Since traditional feature extraction methods depend on parameter settings and have poor adaptability, singular value decomposition was used to extract 15 health indicators from the degradation data of lithium-ion batteries. To eliminate redundancy among the extracted health indicators, Spearman correlation analysis was subsequently used to determine the most appropriate health indicators. On this basis, the selected health indicators were processed by the denoising stack autoencoder, and a fusion health indicator was obtained. Finally, the support vector quantile regression model was used to predict the battery capacity interval by the fusion health indicator. The National Aeronautics and Space Administration battery dataset and Massachusetts Institute of Technology battery dataset were used to verify the validity and generalizability of our proposed model, and our proposed model was compared with the existing four classical prediction models. The experimental results showed that our proposed prediction model had higher prediction accuracy and better robustness than the other models and could effectively improve the prediction effect of the remaining useful life of batteries. The mean value of the root mean square error of the predicted results using our proposed model remained within 1.3%, and the mean value of the coefficient of determination was above 0.97.