Ecosystem health is a self-regulatory and restorative capacity of regional ecosystems to maintain ecological vitality, organization and resilience in the face of external disturbances. The transition zone between neighboring ecosystems, on the other hand, is more sensitive and fragile because of the interaction of different ecosystems and the impact of human activities, etc., and its health status is more easily threatened. The agricultural and pastoral zone in northern China is the transition zone between the semi-humid zone and the semi-arid zone, and it is also an important agricultural zone for the transitional development of China's agricultural and pastoral zones, and it is now facing the serious problem of grassland degradation. High-intensity grazing is an important cause of grassland degradation, which in turn is a key factor affecting the health of grassland ecosystems. Modeling and evaluating grazing pressure by combining normalized vegetation indices with livestock numbers, and thus studying the impacts on the ecological health of the region, in order to determine a reasonable grazing intensity to achieve grass-livestock balance and sustainable regional development. In this study, based on the Vitality-Organizational Strength-Resilience-Ecological Services (VORS) model, we constructed a system of indicators including natural and social aspects, assessed the level of ecological health systems in the northern agricultural and pastoral intertwined zone from 2000 to 2015, and used Moran's I to explore the spatial correlation between grazing pressure and ecosystem health indices. We also chose the optimal regression model from the Ordinary Least Squares (OLS) method, geographically-weighted regression model, time-weighted regression model, and spatiotemporally-geographically-weighted regression model, to reveal the mechanism of the impacts of grazing pressure on the ecological systems' health. The results showed that: (1) the areas with high values of grazing intensity patterns from 2000-2015 were mainly in the Inner Mongolian grassland region, and the areas with low values were mainly in the Shaanxi plateau region. (2) The ecosystem health index of the agricultural and pastoral intertwined zone in northern China showed an increasing trend from 2000 to 2015, and the region as a whole was in a subhealthy state and generally healthy state. (3) The results of global bivariate Moran's I showed negative correlation between 2000 and 2015, but the strength of the effect was decreasing. (4) When comparing multiple regression models, the GTWR model performed the best. In 2000-2015, the positive driving space was concentrated in the Inner Mongolia, Liaoning and Shanxi Province; the negative driving space was concentrated in Shaanxi Province, Gansu and other regions, and the intensity of the impact continued to increase. This paper also proposed different implementation suggestions for grazing policies through the response status of different districts and counties and grasslands, and was committed to realizing the sustainable use of grassland resources and the sustained health of the ecosystem.