The work aims to design and manufacture a citrus fruit picking machine to pick and pack fruits such as citrus. The mechanical part and the control part of the whole machine were designed. The mechanical part comprised an end effector, a manipulator, a moving platform, a rising mechanism, a storage mechanism and a transport mechanism. The control part scanned the citrus in specified color based on the OpenMV system, transmitted the coordinate value to the STM32 MCU through serial communication, controlled each module based on STM32 MCU, and designed and simulated the control circuit diagram of each module with Altium Designer software. A physical prototype was produced and tested successfully in the orchard. The average time for one-time picking was 5.4 s and the maximum height for picking was 1.85 m. The machine is capable of integrating citrus identification, picking, sorting and packing to meet the requirements of use.