Background HIV/AIDS has emerged as a nationwide epidemic and has taken the forefront position as the primary infectious killer of adults in China. The control and prevention of the disease have been hampered by a weak link in the form of heterosexual transmission. However, conventional intervention measures have demonstrated suboptimal efficacy in reducing the incidence of new HIV infections. In light of the current epidemiological characteristics, we have developed and executed an innovative intervention model known as the Joint Prevention and Control Mechanism of the ‘CDC-Public Security Bureau-NGO’. The purpose of this research is to assess the impact of this model on the AIDS awareness, HIV infection rates, sexual behavior, and associated factors among female sex workers and elderly clients. Through the provision of robust evidence of the efficacy of this innovative model, we seek to advocate for its implementation in future interventions. Methods An 8-year consecutive cross-sectional survey, including a 4-year traditional intervention (2014-2017) and the 4-year ‘CDC-Public Security Bureau-NGO’ innovative intervention (2018-2021), was conducted to evaluate the effects of the new intervention. Compared to the traditional intervention, the ‘CDC-Public Security Bureau-NGO’ intervention achieved positive effects by decreasing risky behaviours. The GM(1, 1) model was performed to predict the proportion of HIV infection without implementing the innovative intervention in 2018–2021; P and C values were used to evaluate the performance of the model. Results The most recent condom use rate among female sex workers and elderly clients has increased from 81.1% to 95.3% (P < 0.05), newly reported cases of HIV have decreased by 15.56% yearly and the HIV infection rate among middle-aged and elderly people has dropped by 19.91% yearly. The innovative intervention model has significantly reduced the HIV infection rates. Conclusions The ‘CDC-Public Security Bureau-NGO’ innovative intervention has achieved beneficial effects on HIV/AIDS prevention and control and provides a good reference for Guangxi, China.