Hulunbeir grassland, as a crucial ecological barrier and energy supply base in northwest China, suffers from a fragile ecological environment. Therefore, it is crucially important for Hulunbeir grassland to achieve the sustainable development of its social economies and ecological environments through the evaluation of its ecological security. This paper introduces the indexes of the ecological pressure index (EPI), ecological footprint diversity index (EFDI), and ecological coordination coefficient (ECC) based on the ecological footprint model. Furthermore, the Stochastic Impacts by Regression on Population, Affluence, and Technology (STIRPAT) model was applied to analyze the main driving factors of the change of the ecological footprint. The results showed that: The ecological footprint (EF) per capita of Hulunbeir grassland has nearly doubled in 11 years to 11.04 ha/cap in 2016, while the ecological capacity (EC) per capita was rather low and increased slowly, leading to a continuous increase of per capita ecological deficit (ED) (from 5.7113 ha/cap to 11.0937 ha/cap). Within this, the footprint of fossil energy land and grassland contributed the most to the total EF, and forestland and cropland played the major role in EC. The EPI increased from 0.82 in 2006 to 1.25 in 2016, leading the level of ecological security to increase from level 3 (moderately safe) to level 4 (moderately risky). The indexes of the EFDI and ECC both reached a minimum in 2014 and then began to rise, indicating that Hulunbeir steppe’s ecological environment, as well as its coordination with economy, was considered to be worse in 2014 but then gradually ameliorated. The STIRPAT model indicated that the main factors driving the EF increase were per capita GDP and the proportion of secondary industry, while the decrease of unit GDP energy consumption played an effective role in curbing the continuous growth of the EF. These findings not only have realistic significance in promoting the coordinated development between economy and natural resource utilization under the constraint of fragile environment, but also provide a scientific reference for similar energy-rich ecologically fragile regions.