Lithium batteries are widely used in power storage and new energy vehicles due to their high energy density and long cycle life. The accurate and real-time estimation for the state-of-charge (SoC) and the state-of-health (SoH) of lithium batteries is of great significance to improve battery life, reliability, and utilization efficiency. In this paper, three cascaded fractional-order sliding-mode observers (FOSMOs) are designed for the estimation of SoC by observing the terminal voltage, the polarization voltage, and the open-circuit voltage of a lithium cell, respectively. Furthermore, to calculate the value of the SoH, two FOSMOs are developed to estimate the capacity and internal resistance of the lithium cell. The control signals of the observers are continuous by utilizing fractional-order sliding manifolds without low-pass filters. Compared with the existing sliding-mode observers for SoC and SoH, weaker chattering, faster response, and higher estimation accuracy are obtained in the proposed method. Finally, the experiment tests demonstrate the validity and feasibility of the proposed observer design method.