The maturity of Camellia oleifera fruit is one of the most important indicators to optimize the harvest day, which, in turn, results in a high yield and good quality of the produced Camellia oil. A hyperspectral imaging (HSI) system in the range of visible and near-infrared (400–1000 nm) was employed to assess the maturity stages of Camellia oleifera fruit. Hyperspectral images of 1000 samples, which were collected at five different maturity stages, were acquired. The spectrum of each sample was extracted from the identified region of interest (ROI) in each hyperspectral image. Spectral principal component analysis (PCA) revealed that the first three PCs showed potential for discriminating samples at different maturity stages. Two classification models, including partial least-squares discriminant analysis (PLS-DA) and principal component analysis discriminant analysis (PCA-DA), based on the raw or pre-processed full spectra, were developed, and performances were compared. Using a PLS-DA model, based on second-order (2nd) derivative pre-processed spectra, achieved the highest results of correct classification rates (CCRs) of 99.2%, 98.4%, and 97.6% in the calibration, cross-validation, and prediction sets, respectively. Key wavelengths selected by PC loadings, two-dimensional correlation spectroscopy (2D-COS), and the uninformative variable elimination and successive projections algorithm (UVE+SPA) were applied as inputs of the PLS-DA model, while UVE-SPA-PLS-DA built the optimal model with the highest CCR of 81.2% in terms of the prediction set. In a confusion matrix of the optimal simplified model, satisfactory sensitivity, specificity, and precision were acquired. Misclassification was likely to occur between samples at maturity stages two, three, and four. Overall, an HSI with effective selected variables, coupled with PLS-DA, could provide an accurate method and a reference simple system by which to rapidly discriminate the maturity stages of Camellia oleifera fruit samples.