The development of a machine-learning method with high accuracy, high generalization, and strong robustness for evaluating battery health states is essential in the field of battery health management. In this work, the data-driven stacking regressor (SR) method with a two-layer diagnostic framework was proposed to estimate the state of health (SOH) and predict the remaining useful life (RUL). Five individual estimators were merged in the first layer, including bagging, gradient boosting regression (GBR), support vector regression (SVR), Hist-GBR, and AdaBoost, and linear regression (LR) was used in the second layer to construct the SR model. The SR model produces highly accurate results without the requirement of excessive parameter adjustment. Fifteen batteries from the NASA dataset were used for our experiments, resulting in rather low values of average root mean square error (ARMSE) and relative error (RE) for the SOH estimation and RUL predictions of the different batteries, demonstrating the superiority of the SR model.