The operating temperature and battery aging are the key factors that affect the accuracy of estimation of the state of charge （SOC） of lithium-ion batteries. A hybrid model combining Dynamic Time Warping （DTW） and Kinetic Battery Model （KiBaM） is proposed based on the second-order RC equivalent circuit mode. The DTW algorithm is used to calculate the aging state of the battery based on data on the charging voltage， and the KiBaM model can get the unavailable capacity of the battery due to the current effect. The second-order RC equivalent circuit model is combined to derive the new SOC calculation matrix. After that， the unscented Kalman filter algorithm is used to estimate SOC. The accuracy of the hybrid model is verified based on the Urban Dynamometer Driving Schedule operating conditions. The experimental results show that the max error of the model is less than 2% under the low temperature of 10 ℃ environments and 200-cycle aging conditions.