Like others have said, it's probably the battery going south. A near-dead battery can still put out a respectable voltage at no load, but once it's put under load and needs to put out any significant amount of current, the voltage can drop like a rock. Pulling the battery removes the load, and, sometimes, a battery's voltage can recover enough that it shows full once reinserted.
Lithium ion batteries typically last only 2-3 years. Their longevity strongly depends on how they are stored. Storing them at full charge for an extended period of time is extremely bad. At room temperature, up to 20% of the total capacity is permanently lost after 1 year when stored at full charge versus 4% lost if stored at 40% charge.