Well yeah. Skyrim is the fifth numbered title in The Elder Scrolls series; the first title was an adaptation of the creator's D&D setting and campaigns. The Elder Scrolls is quite classically a D&D world -- Elves, Orcs, Humans, plus Catfolk and Lizardfolk make up the main peoples of the setting's 9 countries of Tamriel (Altmer/High Elves of the Summerset Isles, Bosmer/Wood Elves of Valenwood, Khajiit (catfolk) of Elsweyr, Argonians (Lizardfolk) of the Black Marsh aka Argonia, Dunmer/Dark Elves of the volcanic wastelands and fungal forests of Morrowind, Nord Humans of Skyrim, Manmer/Breton Half-elves of High Rock, Ra'Gada/Redguard Humans of Hammerfell, and Cyrodiilic/Imperial Humans of the heartland forests and fields of the Imperial Province aka Cyrodiil. Orsimer/Orcs live in the spaces between, but have their strongholds mainly in the mountains that form the borders of Hammerfell, High Rock, Skyrim, Cyrodiil, and Morrowind. There's only 1 Dwemer/Dwarf left alive, and he's in Morrowind, but Dwarvish ruins from the Age of Legends dot the landscapes of Hammerfell, High Rock, Skyrim, and Morrowind. Goblins and other traditional fantasy creatures appear throughout much of the continents, Dragons were thought to be extinct, but in Skyrim, they are coming back to life and wreaking havoc upon the peoples of the world.
This all said: Skyrim uses a cooldown/regen for stamina and magic (relatively slowly), but as I recall, not for health (if it does regen, it's extremely slowly), but you can use healing potions or restoration magic to heal faster. Death sets you back to the last save you made/autosave, losing all progress. Or you can rest to regain all health, but only if you're in a safe place to rest, and even then, you might be disturbed while sleeping and end up in conflict before all your health has been regained.
A game like Xenoblade is more like what this thread was going for, I'd think -- in that game you heal everything almost instantaneously after battles, and a death sets you back to the checkpoint location, but you don't lose any progress, so it's really more about, "how do I overcome this particular combat situation" than "how do I survive through a gauntlet of challenging battles over the course of a dungeon?" Skyrim dungeons have gauntlets because it's very easy to not be able to heal fast enough in places where it's not safe to rest. And because of an encumberance mechanic, you often can't retreat with fast travel unless you forego treasures you found in that dungeon or cave, unless you have some sort of feather spell or potion to help you carry more than your usual Strength ability score allows.