A state-of-health monitoring and prognosis method and system for a battery includes a signal preprocessing module for monitoring battery terminal voltage and current and extracting a portion of the battery terminal voltage and current corresponding to an engine cranking event. Battery voltage loss that occurs during said engine cranking event is estimated from the extracted portion of battery terminal voltage and current by a voltage loss estimation module. The estimated battery voltage loss is compared with a predetermined voltage loss threshold to determine battery state-of-health by a state-of-health evaluation module.