With the development of industrialization and urbanization, the consumption and pollution of water resources are becoming more and more serious. Water quality monitoring is an extremely important technical means to protect water resources. However, the current popular water quality monitoring methods have their shortcomings, such as a low signal-to-noise ratio of satellites, poor time continuity of unmanned aerial vehicles, and frequent maintenance of in situ underwater probes. A non-contact near-surface system that can continuously monitor water quality fluctuation is urgently needed. This study proposes an automatic near-surface water quality monitoring system, which can complete the physical equipment construction, data collection, and processing of the application scenario, prove the feasibility of the self-developed equipment and methods and obtain high-performance retrieval results of four water quality parameters, namely chemical oxygen demand (COD), turbidity, ammoniacal nitrogen (NH3-N), and dissolved oxygen (DO). For each water quality parameter, fourteen machine learning algorithms were compared and evaluated with five assessment indexes. Because the ensemble learning models combine the prediction results of multiple basic learners, they have higher robustness in the prediction of water quality parameters. The optimal determination coefficients (R-2) of COD, turbidity, NH3-N, and DO in the test dataset are 0.92, 0.98, 0.95, and 0.91, respectively. The results show the superiority of near-surface remote sensing, which has potential application value in inland, coastal, and various water bodies in the future.