Underwater noise pollution from pile driving is now attracting increasing attention. However, most of the current numerical and semi-analytical models for predicting the noise are still expensive and time-consuming, and the near-field noise and far-field noise have to be obtained from different models. This paper proposes an efficient semi-analytical solution for predicting underwater noise in both near field and far field with only one model, whose computational efficiency is orders of magnitude higher than that of the finite element model. It is the first time that the Baranov–Novak thin-layer model for soil-pile interaction has been extended to the subject of underwater noise prediction during pile installation, taking into account pile-fluid-soil interaction. The solutions are obtained using the Laplace transform and the variable separation method. By comparing the prediction results with the five reported research cases, it is shown that the error of the proposed model is within reasonable limits for both near-field and far-field noise predictions.