In order to evaluate the coordination degree between ecological environment and economic development, we selected the panel data of 107 counties of Shaanxi Province in 2000, 2005, 2010, and 2015, and built the coordination degree index between the environment and economy according to the per unit area change of Ecosystem Service Value (ESV) and Gross Domestic Product (GDP). The temporal and spatial evolution characteristic of coordination degree of environment and economy and its driving factor were discussed by using the spatial autocorrelation and spatial Dubin model. The results showed that:(1) The coordination degree index showed a downward trend during the study period. From the spatial perspective, most counties were still in a state of basic and moderate coordination. The coordination degree in northern Shaanxi was better than that in the southern Shaanxi, and the coordination degree in southern Shaanxi was better than that in the Guanzhong. (2) The coordination degree of the study area showed significantly positively spatial autocorrelation and obviously high-high and low-low agglomeration characteristics. (3) The Grain for Green project, urbanization expansion, industrial structure and annual average precipitation play significant roles in improving the coordination degree of environment and economy, while the average temperature will inhibit its development. In future, the differentiated development strategies should be implemented according to local conditions to achieve coordinated development of environment and economy.