An optimized scheduling strategy for orderly charging of electric vehicles (EVs) considering charging pile allocation and the interests of multiple stakeholders was proposed, to address the issues of high charging costs, long waiting times, and adverse impacts on the power grid caused by the limited EV charging infrastructure. By rationally allocating the limited charging pile resources, the interests of users, the power grid, and the charging service providers were reconciled. A probability model and an uncertainty set incorporating user behavior characteristics were constructed, and a vehicle-pile matching and allocation model was established. The charging time constraints were converted into the electricity quantity constraints via a decision-variable transformation to simplify the optimization problem. On this basis, stakeholder-specific indicators evaluation indices were developed, and simulation analysis was conducted on the IEEE 33-bus system under the time-of-use tariff. The results demonstrated that the strategy effectively mitigated the problems arising from the insufficient charging infrastructure, delivering a win-win outcome for users, the grid and operators. The proposed strategy remained robust when the number of charging piles was limited, the user preferences were heterogeneous, or the user exit rate was high (30%), confirming its strong practicality and extensibility.