Street lighting should realise normative illuminance levels throughout the roadway. The determination of the illuminance level of a road requires the use of a measurement technique based on classic point measurements at a specific grid of measurement points. Classical stationary measurements using the method indicated in the prescriptive requirements are time-consuming and labor-intensive. The authors of the article have presented a concept of a measurement system that could be used to partially automate road lighting measurements and increase their universality. The proposed measurement system uses the simultaneous measurement of illuminance values from lux meters located on the roof of the vehicle. The measurement is carried out while the vehicle is driving on a lit road, and the illuminance values are localized using a global GPS satellite location system equipped with RTK corrections. The use of GPS RTK localization data corrections allowed the measurement results to be unambiguously assigned to post-measurement fields. On the basis of the collected measurement data, with the use of terrain maps, it is possible to determine in detail the illuminance parameters on the surveyed road sections. The paper presents the construction of a measurement system for the mobile measurement of street lighting intensity using a GPS RTK receiver, along with verification of its correct operation. The correctness of the system’s operation was confirmed on the basis of the Measurement System Analysis (MSA) method. The calculations performed confirmed an R&R result of 11.14%. The proposed solution allows data on the lighting parameters of the surveyed road section to be obtained in a quick and repeatable manner. As a result, it is possible to make a quick assessment of the street lighting condition of the entire road section. The proposed system has been verified under field conditions and the repeatability of the results obtained has been confirmed.