A lumped-parameter thermal model of a cylindrical LiFePO4/graphite lithium-ion battery is developed. Heat transfer coefficients and heat capacity are determined from simultaneous measurements of the surface temperature and the internal temperature of the battery while applying 2 Hz current pulses of different magnitudes. For internal temperature measurements, a thermocouple is introduced into the battery under inert atmosphere. Heat transfer coefficients (thermal resistances in the model) inside and outside the battery are obtained from thermal steady state temperature measurements, whereas the heat capacity (thermal capacitance in the model) is determined from the transient part. The accuracy of the estimation of internal temperature from surface temperature measurements using the model is validated on current-pulse experiments and a complete charge/discharge of the battery and is within 1.5 C. Furthermore, the model allows for simulating the internal temperature directly from the measured current and voltage of the battery. The model is simple enough to be implemented in battery management systems for electric vehicles.