To improve the probability that an engineering system successfully completes its next mission, it is crucial to implement timely maintenance activities, especially when maintenance time or maintenance resources are limited. Taking series-parallel system as the object of study, this paper develops a multi-objective imperfect selective maintenance optimization model. Among it, during the scheduled breaks, potential maintenance actions are implemented for the components, ranging from minimal repair to replacement. Considering that the level of maintenance actions is closely related to the maintenance cost, age reduction coefficient and hazard rate adjustment coefficient are taken into account. Moreover, improved hybrid hazard rate approach is adopted to describe the reliability improvement of the components, and the mission duration is regarded as a random variable. On this basis, a nonlinear stochastic optimization model is established with dual objectives to minimize the total maintenance cost and maximize the system reliability concurrently. The fast elitist non-dominated sorting genetic algorithm (NSGA-II) is adopted to solve the model. Numerical experiments are conducted to verify the effectiveness of the proposed approach. The results indicate that the proposed model can obtain better scheduling schemes for the maintenance resources, and more flexible maintenance plans are gained.