Since impervious surface is one of the core urban ecological indices, its high-precision time series monitoring at regional or global scales is highly desirable. Spectral features, spatial features, and temporal features have been successfully applied to regional impervious surface monitoring. However, few studies focus on the extraction of optimal features for subpixel impervious surface monitoring at the regional or global scales. In order to solve the above problem, this study proposes a new method for subpixel time series impervious surface estimation based on optimal spectral-temporal features. The proposed method first extracts various spectral indices from time series Landsat imagery to construct a spectral-temporal feature library. A feature scoring model is then established to optimize spectral-temporal features from the feature library. Based on the optimal spectral-temporal features, a modified semi-supervised Fuzzy C-means (FCM) method is proposed to identify stable pixels and extract endmembers from stable pixels. Finally, the endmembers are applied to the Fully Constrained Least Squares (FCLS) for time series impervious surface abundance extraction. The optimal spectral-temporal features can effectively distinguish impervious surfaces from pervious surfaces through feature optimization selection, and improve the feature utilization performances, thereby obtaining high-precision impervious surface mapping. The proposed method is applied in Wuhan, China, from 2013 to 2021, using seasonal time series Landsat 8 OLI images. Experimental results show that the impervious surface area of Wuhan expands from 567.27 km2 in winter 2013 to 1056.95 km2 in winter 2021 at the pixel scale. The impervious surface area expands from 545.80 km2 in winter 2013 to 921.01 km2 in winter 2021 at the subpixel scale. The subpixel impervious surface monitoring effectively solve the overestimation and underestimation problem of the pixel-scale impervious surface monitoring. This study characterizes the long-term dynamics of impervious surfaces at the subpixel scale and can provide reliable urban growth information for evaluating the impact of urbanization on the ecological environment.