Heel marks (HMs) are a type of dirt stain consisting of polyester-based urethane rubber on polyvinyl chloride (PVC) floor surfaces. The rapid removal of HMs was achieved by using non-thermal atmospheric-pressure plasma technology. Mimetic HMs were prepared by coating PVC floor samples with HMs to a thickness of 13.9 μm. The removal area, thickness, and volume were measured after applying spark discharges at high voltage and a repetition rate of 50 kHz. The treated surfaces were analyzed by using X-ray photoelectron spectroscopy (XPS) and pyrolysis–gas chromatography with time-of-flight mass spectrometry (Py-GC/TOFMS). Removal rates of 20 mm2/min in area, 52 mm3/min in volume, and 7 μm/min in depth were achieved with an inter-electrode distance of 10.0 mm and an air flow rate of 20 standard liters per minute. A removal depth of 10 μm/min was achieved without air supply. The mechanism of stain removal by spark discharge was modeled by decomposing the original high-molecular-weight molecules in polyester-based urethane rubber into low-molecular-weight molecules, such as methylene diisocyanate (MDI) components. The results of this study may facilitate the development of a novel electric vacuum cleaner capable of removing floor stains.