Despite the fact that a large number of research studies have been conducted in the field of search and rescue robotics, significantly little attention has been given to the development of rescue robots capable of performing physical rescue interventions, including loading and transporting victims to a safe zone—i.e., casualty extraction tasks. The aim of this study is to develop a mobile rescue robot that could assist first responders when saving casualties from a dangerous area by performing a casualty extraction procedure whilst ensuring that no additional injury is caused by the operation and no additional lives are put at risk. In this paper, we present a novel design of ResQbot 2.0—a mobile rescue robot designed for performing the casualty extraction task. This robot is a stretcher-type casualty extraction robot, which is a significantly improved version of the initial proof-of-concept prototype, ResQbot (retrospectively referred to as ResQbot 1.0), that has been developed in our previous work. The proposed designs and development of the mechanical system of ResQbot 2.0, as well as the method for safely loading a full-body casualty onto the robot’s ‘stretcher bed’, are described in detail based on the conducted literature review, evaluation of our previous work, and feedback provided by medical professionals. We perform simulation experiments in the Gazebo physics engine simulator to verify the proposed design and the casualty extraction procedure. The simulation results demonstrate the capability of ResQbot 2.0 to carry out safe casualty extractions successfully.