Dramatic urban land expansion and its internal sub-fraction change during 2000–2020 have taken place in Africa; however, the investigation of their spatial heterogeneity and dynamic change monitoring at the continental scale are rarely reported. Taking the whole of Africa as a study area, the synergic approach of normalized settlement density index and random forest was applied to assess urban land and its sub-land fractions (i.e., impervious surface area and vegetation space) in Africa, through time series of remotely sensed images on a cloud computing platform. The generated 30-m resolution urban land/sub-land products displayed good accuracy, with comprehensive accuracy of over 90%. During 2000–2020, the evaluated urban land throughout Africa increased from 1.93 × 104 km2 to 4.18 × 104 km2, with a total expansion rate of 116.49%, and the expanded urban area of the top six countries accounted for more than half of the total increments, meaning that the urban expansion was concentrated in several major countries. A turning green Africa was observed, with a continuously increasing ratio of vegetation space to built-up area and a faster increment of vegetation space than impervious surface area (i.e., 134.43% vs., 108.88%) within urban regions. A better living environment was also found in different urbanized regions, as the newly expanded urban area was characterized by lower impervious surface area fraction and higher vegetation fraction compared with the original urban area. Similarly, the humid/semi-humid regions also displayed a better living environment than arid/semi-arid regions. The relationship between socioeconomic development factors (i.e., gross domestic product and urban population) and impervious surface area was investigated and both passed the significance test (p < 0.05), with a higher fit value in the former than the latter. Overall, urban land and its fractional land cover change in Africa during 2000–2020 promoted the well-being of human settlements, indicating the positive effect on environments.