We present a theoretical and experimental study of a single-beam spin-exchange relaxation-free magnetometer in 87Rb vapor cells under different nitrogen gas pressures. The spin relaxation rate is a key component to limit the magnetic sensitivity, and the zero-field resonance method was used to measure the spin relaxation rates of different alkali metal cells. Simultaneously, in a single-beam spin-exchange-relaxation-free (SERF) magnetometer, we demonstrated that the fundamental magnetic field sensitivity was also limited by the pumping light intensity. Based on our theoretical analysis and experimental results, we determined the optimal pumping light intensity and optimal gas pressure. We experimentally demonstrated that the magnetic field sensitivity was 8.89 fT/Hz in the single-beam configuration, with an active measurement volume of 3 × 3 × 3~mm3.