• Propose a novel Dual-LSTM framework to achieve real-time high-precision RUL prediction. • Design a new health index construction function to indicate the health condition of the unit. • Characterize both long- and short-term dependencies within each sensor via LSTM network. • Improve RUL prediction performances at all monitoring points compared with benchmarks. Remaining Useful Life (RUL) prediction is a key task of Condition-based Maintenance (CBM). The massive data collected from multiple sensors enables monitoring the complex systems in near real-time. However, such multiple sensors data environments pose a challenging task of combining the sensor data to infer the quality and RUL of the system. To address this task, we propose a Dual-LSTM framework that leverages Long-Short Term Memory (LSTM) for degradation analysis and RUL prediction. The Dual-LSTM relaxes the strong assumption of the fixed change point and detects the uncertain change point unit by unit at first. Then, the Dual-LSTM predicts the health index beyond the change point which can be leveraged to calculate the RUL. The proposed Dual-LSTM (i) achieves real-time high-precision RUL prediction by connecting the change point detection and RUL prediction with the health index construction, (ii) introduces a novel one-dimension health index function, (iii) leverages historical information to achieve detection and prediction tasks by characterizing both long and short-term dependencies of sensor signals through LSTM network. The effectiveness of the proposed Dual-LSTM framework is validated and compared to state-of-art benchmark methods on two publicly available turbofan engine degradation datasets.