We demonstrate a simple method to measure electric field intensity by using doublet electromagnetically induced transparency (EIT) spectra of cold Rb Rydberg atoms, where the frequency of coupling laser needs not to be locked. Based on the Stark splitting of Rb Rydberg state, 10D3/2, under electric fields and the corresponding calculated polarizabilities, the real electric field intensity is calculated with the radio frequency diffraction difference between two acousto-optic modulators (AOMs), act as a frequency criterion which allows us to measure the electrical field without locking coupling laser. The measured value by this simple method shows a good agreement with our previous work [Opt. Express, 29, 1558 (2021)] where the frequency of coupling laser needs to be locked with an additional EIT spectrum based on atom vapor and a Proportional-Integral-Differential feedback circuit. Our presented method can also be extended to the electric field measurement based on hot Rydberg atom vapor gas, which has application in industrial requirement.