In general, the quality of agricultural products is determined by direct measurement of a weight or a magnitude, and it is determined by indirect or non-destructive method. In this paper, using color image processing, the algorithm to determine its quality and grading is presented. And the algorithm is applied to real-time citrus classifier. In the system, the size and color of orange are measured by not the sight of human but the digital image processing. The citrus classification system has the real-time maximum classification capacity of six quantify per one second. The system can be applied to controller design for the quality classification of agricultural products.