Cellulose nanofibers (CNFs) with an average diameter of 22 nm were prepared from sugar beet pulp (SBP) via an environmentally-friendly method. Steam-explosion pretreated SBP was treated with hydrogen peroxide (H₂O₂) bleaching, high-speed blending, and ultrasonic treatment. Thermogravimetric analysis showed that hemicellulose was partially hydrolyzed in the steam-cooking stage, pectin was removed in the explosion stage, and lignin was removed by H₂O₂ bleaching. The removal of non-cellulosic components was confirmed by Fourier-transform infrared (FT-IR) spectroscopy. Morphological analysis showed that steam-explosion pretreatment largely extracted the binder materials of hemicellulose and pectin. This exposed the microfibrillated cellulosic fibers, which promoted subsequent nanofibrillation. X-ray diffraction showed that the CNFs had a crystallinity index of 62.3%. The CNFs had good thermal stability, and thus have potential for use as fillers in polymer matrices. The only chemical reagent used in this green method was H₂O₂. Combining H₂O₂ bleaching with steam explosion, high-speed blending, and ultrasonic treatment reduced the overall energy consumption and increased the efficiency of the CNFs extraction. The method, therefore, has potential application in industrial processes.