With the progress of science and technology, humans’ ability to transform and create has been greatly enhanced, but so have the physical and mental ailments associated with environmental degradation and urbanization. Human survival and health are strongly linked to nature, and there is growing evidence that exposure to nature promotes health and well-being. However, there is currently a lack of synthesis among empirical studies on these aspects for the findings to be sufficient for informing public health strategies and social policy. Here, following basic guidelines for systematic review and meta-analysis, we searched PubMed, Web of Science, ScienceDirect, and Scopus databases in January 2023. The results of our search and analysis show that nature can improve people’s health and well-being from two aspects: physical (reduces CVDs, increases immunity, improves autonomic nervous system function, and improves sleep quality) and psychological (restores attention, improves mood, reduces stress, and improves cognitive development). The ways in which people derive health from nature are varied, and tailored, personalized, symptom-specific exposure can further increase the health benefits. More importantly, it seems that people can gain the health benefits of nature by only being exposed to it for a short time. We incorporate the existing scientific evidence in our review and develop a new heuristic point of view on the necessity of exposure to natural environments for the health of individuals.