Soil provides multiple, diverse functions, with these underpinning both planetary and human health. For planetary health, soil contributes to multiple critical processes, including through biomass production, by regulating the carbon pool, providing a habitat for 25% of global biodiversity, cycling the nutrients upon which terrestrial systems depend, and cycling water. Soil also underpins human health; humans use soil to provide 98.8% of our food and sustain our nutrition, regulate pathogens, and supply medicines. However, humans have tended to focus on soil almost solely for producing biomass (food, fiber, and energy) through intensive agriculture, and this narrow focus now causes rapid soil degradation, including through loss of soil organic matter, erosion, and salinization. This degradation directly harms planetary health and reduces the ability of soil to support health of future human generations. We argue that a healthy soil is a soil that is multifunctional and is capable of underpinning human and planetary health. Using this definition, a broad conceptual framework is provided for quantifying soil health, with such an approach enabling a shift in the way that we think about, plan, and manage systems to ensure ongoing planetary and human health.