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As the demand for utilizing lithium-ion batteries (LIB) has increased due to the entering of the informational era and the efforts of carbon neutrality, battery thermal management has become an important topic. Previous work has focused on removing heat using forced air and indirect liquid cooling. Due to the cost-effective cooling performance, single-phase static direct immersive cooling has recently gained attention. This paper aims to understand single cylindrical LIB’s thermal behavior under different surroundings when implementing single-phase static immersive cooling. This paper also aimed to explore how different methods of attaching thermocouples affect the precision of the measurement. By attaching thermocouples with various orientations and attachment methods on the different regions of the LIB, the temperature measurement by thermocouples is obtained by varying two battery brands, four fluid types, two submerging percentages, and four discharge rates. The expected result is that Sony battery reaches the maximum temperature of 34 °C when under 3C discharge rate and 90% under AmpCool-110 engineering fluid, which is 25 °C cooler relative to the same setup when cooling by 23 °C ambient air. The experiment also expected horizontal-orientated thermocouples with additional TIM between the cell’s wall and the probe to provide the most accurate measurement of temperature. The present study will serve as the foundation for validating and tuning the computational model of the battery, which will be utilized to research the optimal configuration of the battery pack for cooling performance per energy density.