Overgrazing has caused serious grassland degradation, and grazing exclusion (GE) has been considered an effective and economic approach for restoring vegetation and soils in degraded grassland. In this study, we evaluated the ecosystem restoration of two types of degraded spring and autumn pasture in arid regions of northwest China, based on field surveys (community structure characteristics, soil C and N) and Landsat images (greenness and wetness). In temperate typical steppe (TS), our findings indicated that GE significantly increased plant height, coverage, biomass, soil C and N, as well as greenness and wetness values from Landsat images, however GE decreased plant density and species diversity. Restoration on greenness and wetness peaked in the fourth and fifth years, respectively, following GE. The restoration of greenness and wetness showed bimodal curves during growing season. In temperate desert (TD), results revealed that community structure characteristics, greenness, and wetness improved after GE, and the restoration of greenness and wetness increased with duration of GE. Soil C and N however, did not recover significantly after six years of GE. The restoration of greenness and wetness remained stable during growing-season months. Our findings suggest that longer GE might be considered in the restoration of TD, whereas short-term (not more than 4–5 years) GE, reduction in the livestock load or mowing regularly may be more appropriate for TS. Decision to adopt measures of GE and the duration of GE should be reasonably determined according to the specific grassland type. This research can provide guidance for the restoration of degraded grassland ecosystems in arid and semi-arid regions all over the world.