The accurate estimation of the state-of-health (SOH) is vital to the life management of lithium-ion batteries (LIBs). In this article, we propose a fusion-type SOH estimation method by combining the model-based feature extraction and data-based state estimate. Particularly, a novel model-based voltage construction method is proposed to eliminate the unfavorable numerical condition and reshape the disturbance-free incremental capacity (IC) curves. Leveraging the modified IC curves, a set of informative features-of-interest is extracted and evaluated, while eventually several cautiously selected ones are used to estimate the SOH of LIBs accurately. Furthermore, the impact of model order on the estimation performance is scrutinized to give insights into the parameterization in practical applications. Long-term cycling tests on different types of LIB cells are used for evaluation. The proposed method is validated with a good robustness to the cell inconsistency, temperature uncertainty, noise corruption, and a satisfied generality to different battery chemistries.