When existing methods consider the impact of the imperfect maintenance activities on random degraded equipment, they usually assume that the degraded equipment is linear, and set the number of imperfect maintenance activities in advance. However, in engineering practice, most of the degraded equipment is nonlinear, and the number of imperfect maintenance activities has an impact on the development of maintenance strategies. Therefore, this paper proposes a new joint maintenance strategy considering the uncertainty of the number of imperfect maintenance activities for nonlinear degraded equipment. First, nonlinear degradation data are linearized based on Box–Cox transformation (BCT), and the degradation model under the influence of imperfect activities is constructed by the random coefficient regression model. Accordingly, the remaining useful life (RUL) probability distribution can be derived. Secondly, the number of maintenances is calculated by imperfect maintenance level and success probability. Then, the detection cycle, preventive maintenance threshold and maintenance times are taken as decision variables. The optimization objective is to minimize the expected average cost. However, this is restricted by availability and probability of success for imperfect maintenance activities. A multi-objective joint optimization model of condition-based maintenance and spare parts ordering is constructed. Finally, the analysis results based on numerical examples verify the feasibility of the proposed joint optimization strategy.