In this work, amplitude envelope synchronization (AES), as a general phenomenon characterized with highly correlated amplitude envelope but uncorrelated phases and frequencies in coupled nonidentical nonlinear systems, is investigated theoretically and numerically. Two different types of AES patterns, including sinusoidal and nonsinusoidal, are widely observable in coupled periodic and/or chaotic oscillators. They both come from modulation of phase mismatch on amplitude but show different patterns due to different behaviors of phase mismatch. With increase of frequency mismatch, the system tends to crossover from nonsinusoidal to sinusoidal AES. With the aid of synchronization manifold and transverse stability analyses of the AES state, the physical mechanism and scale relations for the AES are well revealed. We expect that all these results could uncover the generality of AES in coupled nonlinear oscillators and help to understand the rich dynamics of phase and amplitude coupling in multidisciplinary fields.