Citrus orchards in Southeast Asia are commonly grown in hilly areas, where the terrain is unsuitable for the operation of crop protection machinery. Conventional spraying equipment used in hilly orchards have a poor deposition effect. In this paper, a new air-assisted electrostatic sprayer was designed for hilly citrus orchards. The orthogonal method was conducted to determine the optimal spray parameters of the sprayer. To evaluate the spray performance of the optimized air-assisted electrostatic sprayer, field tests were carried out on a citrus orchard with various cultivation patterns. Based on the data of the field tests, a comprehensive evaluation model was constructed to quantitatively analyze the performance of the sprayer. Results indicate that the optimal parameters are a spray pressure of 0.5 MPa, applied voltage of 9 kV and air flow velocity of 10 m/s. The optimized air-assisted electrostatic sprayer has the best performance in the citrus under dense fence cultivation pattern, followed by dense dwarf cultivation pattern. Comparing to the other sprayers tested, the air-assisted electrostatic sprayer greatly improves the spray coverage on the leaf surfaces (abaxial and adaxial) under various cultivation patterns.