这样做:

public static void main(String[] args) throws ParseException {

    String dateStr = "2016-10-19T14:15:36+08:00";
    Date date = javax.xml.bind.DatatypeConverter.parseDateTime(dateStr).getTime();

    System.out.println(date);

}

输出如下:

2016年10月19日星期三15:15:36 CST

Java 12

从Java 12开始，Instant#parse可以解析包含时区偏移的日期-时间字符串。

Date dt = Date.from(Instant.parse(your-date-time-string));

使用Instant# Parse解析ISO 8601格式的日期-时间字符串，并使用dat# from将结果转换为java.util.Date。在Ideone.com上查看运行的代码。

演示:

import java.time.Instant;
import java.util.Date;
import java.util.stream.Stream;

public class Main {
  public static void main(String[] args) {
    Stream.of(
        "2010-01-01T12:00:00+01:00",
        "2010-01-01T12:00:00-01:00",
        "2010-01-01T12:00:00Z"
      )
      .map(Instant::parse)
      .map(Date::from)
      .forEach(System.out::println);
  }
}

在Ideone.com上查看运行的代码。

从Trail: Date Time了解更多关于现代Date-Time API的信息。

Java 8 +

简单的一句话，我没有在答案中找到:

Date date = Date.from(ZonedDateTime.parse("2010-01-01T12:00:00+01:00").toInstant());

Date不包含时区，它将以UTC存储，但即使在使用System.out.println(Date)进行简单输出时，也会正确地转换为您的JVM时区。

Java 7文档所推崇的方式是:

DateFormat df1 = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ");
String string1 = "2001-07-04T12:08:56.235-0700";
Date result1 = df1.parse(string1);

DateFormat df2 = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSXXX");
String string2 = "2001-07-04T12:08:56.235-07:00";
Date result2 = df2.parse(string2);

你可以在SimpleDateFormat javadoc的examples部分找到更多的例子。

UPD 02/13/2020:在Java 8中有一种全新的方式来做到这一点

像这样使用字符串 LocalDate.parse (((String) data.get(“d_iso8601”)),DateTimeFormatter.ISO_DATE)

一个小测试，展示了如何解析ISO8601中的日期，以及LocalDateTime不能处理DSTs。

 @Test
    public void shouldHandleDaylightSavingTimes() throws ParseException {

        //ISO8601 UTC date format
        SimpleDateFormat utcFormat = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSXXX");

        // 1 hour of difference between 2 dates in UTC happening at the Daylight Saving Time
        Date d1 = utcFormat.parse("2019-10-27T00:30:00.000Z");
        Date d2 = utcFormat.parse("2019-10-27T01:30:00.000Z");

        //Date 2 is before date 2
        Assert.assertTrue(d1.getTime() < d2.getTime());
        // And there is 1 hour difference between the 2 dates
        Assert.assertEquals(1000*60*60, d2.getTime() - d1.getTime());

        //Print the dates in local time
        SimpleDateFormat localFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm z Z", Locale.forLanguageTag("fr_CH"));
        localFormat.setTimeZone(TimeZone.getTimeZone("Europe/Zurich"));

        //Both dates are at 02h30 local time (because of DST), but one is CEST +0200 and the other CET +0100 (clock goes backwards)
        Assert.assertEquals("2019-10-27 02:30 CEST +0200", localFormat.format(d1));
        Assert.assertEquals("2019-10-27 02:30 CET +0100", localFormat.format(d2));

        //Small test that shows that LocalDateTime does not handle DST (and should not be used for storing timeseries data)
        LocalDateTime ld1 = LocalDateTime.ofInstant(d1.toInstant(), ZoneId.of("Europe/Zurich"));
        LocalDateTime ld2 = LocalDateTime.ofInstant(d2.toInstant(), ZoneId.of("Europe/Zurich"));

        //Note that a localdatetime does not handle DST, therefore the 2 dates are the same
        Assert.assertEquals(ld1, ld2);

        //They both have the following local values
        Assert.assertEquals(2019, ld1.getYear());
        Assert.assertEquals(27, ld1.getDayOfMonth());
        Assert.assertEquals(10, ld1.getMonthValue());
        Assert.assertEquals(2, ld1.getHour());
        Assert.assertEquals(30, ld1.getMinute());
        Assert.assertEquals(0, ld1.getSecond());

    }