China has achieved a comprehensive victory in poverty eradication. Relocation has been the major measure of the poverty alleviation strategy, and 10 million poor people have successfully been relocated in the ‘Thirteenth Five-Year’ period (from 2016 to 2020). This paper established an integrated evaluation index system for the livelihoods of relocated groups and the sustainability of the village, based on the framework of United Nation 2030 Sustainable Development Goals and using the data from questionnaire surveys in Bailang Village, Tibet. The indicator system quantitatively analyzed the changes in the livelihoods of different agro-pastoralist groups before and after relocation from the three aspects of living standards, livelihood assets, and livelihood strategies. The results showed that relocation led to the improvement of the livelihoods of immigrated households. As the duration after relocation increases, the living standards rise steadily, especially in poverty eradication (SDG1), which increased nearly 100%. Relocation affects the livelihood strategies of the relocated groups, in that the original pure farmers chose more diverse livelihood strategies and the non-farm employment ratio (SDG8) of the village increased. The total SDG score increased from the perspective of the sustainable development of the village. The data also showed that relocation had limited impacts on the livelihoods of the aborigines. The results implied that the relocation policy for poverty alleviation has been implemented successfully in this area. This research could support policy optimization for improving the sustainability of the village and the livelihoods of the immigrants.