In this study, five different processes, including hot water (HW-ASP), single enzyme (cellulase, pectinase and papain; C-ASP, PE-ASP, and P-ASP), and compound-enzyme (cellulose: pectinase: papain = 3:3:1; CE-ASP) for the extraction of soybean hull polysaccharides (ASPs) were employed, and the characterization and prebiotics activity of five polysaccharides were analyzed. These polysaccharides possessed different primary structural characteristics, including molecular weight distribution, monosaccharide composition, chemical composition, surface morphology, potential particle size, etc., while similar functional groups. In vitro digestibility assay indicated that C-ASP had strong resistance to gastric juice hydrolysis and α-amylase as compared with HW-ASP. Furthermore, C-ASP elevated the acidifying activity and promoted the growth of probiotics (Lactobacillus paracasei, Lactobacillus rhamnosus, and Lactobacillus acidophilus) during the fermentation (p < 0.05). C-ASP improved the levels of total short-chain fatty acids (SCFAs) and had better prebiotic activity than HW-ASP (p < 0.05). These findings denote that enzyme-assisted polysaccharides extracted from soybean hulls have the potential to be served as novel probiotics.