Joint inversion is an important quantitative interpretation tool for integrated geophysics. We first review and analyze the current state of the research and progresses of joint inversion using gravity and seismic data. Then, we employ the improved very fast simulated annealing algorithm (VFSA), which has obvious advantage of finding overall optimal solution in inverse problems, to perform constrained synchronous joint inversion of gravity and seismic data. This inversion uses a designed model with uncommon interface of density and velocity. Through the model test and field observed data processing and interpretation, this method is proved effective and practicable, especially the application in the Xuwen area shows that the density and velocity structures of the underground complicated interfaces could be exactly determined and revealed. With constrained known information, this joint inversion method is clearly superior to the single inversion of gravity data.