Inspired by life-cycle theory, we establish an identification model based on fuzzy set theory to theoretically divide cooperation and collaboration into adjacent stages. Three key indicators are determined, including collaboration degree, cooperation output and collaboration effectiveness. The result of from the case studies verifies the feasibility of identification model. Conclusions show that (1) the identification model on the life cycle of University-Industry collaborative innovation realizes the scientific division of collaborative process on the premise of maintaining its ambiguity; (2) the quantification of key indicators is able to be combined with subjective and objective evaluations which demonstrate good recognition effect; (3) differences exist in the development path of collaboration.