Battery system diagnosis and prognosis are essential for ensuring the safe operation of electric vehicles (EVs). This paper proposes a diagnosis method of thermal runaway for ternary lithium-ion battery systems based on the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) clustering. Two-dimensional fault characteristics are first extracted according to battery voltage, and DBSCAN clustering is used to diagnose the potential thermal runaway cells (PTRC). The periodic risk assessing strategy is put forward to evaluate the fault risk of battery cells. The feasibility, reliability, stability, necessity, and robustness of the proposed algorithm are analyzed, and its effectiveness is verified based on datasets collected from real-world operating electric vehicles. The results show that the proposed method can accurately predict the locations of PTRC in the battery pack a few days before the thermal runaway occurrence.