This paper proposed a simple non-intrusive oil temperature measurement method to overcome the shortcomings of the traditional intrusive one. The heat transmission model between outer and inner tube wall, the temperature distribution model of oil near the inner tube wall, and the temperature distribution model of oil in tube were established, respectively, based on the energy conservation principle. With the constructed models, we can measure the temperature of oil in tube by surveying the temperature of outer tube wall and the temperature of air around the tube. An oil temperature measurement apparatus was designed to demonstrate the new method. We measured the temperature of No. 46 antiwear hydraulic oil under 5 MPa, 15 MPa, and 25 MPa, respectively. Comparative results with traditional intrusive oil temperature measurement method show that the measurement error of the presented method is less than 1 °C, and thus implies its superiority.