An efficient and environmental-friendly extraction method has been developed for extraction of ursolic acid (UA) from Hedyotis diffusa by using subcritical water extraction (SWE). The experiments were carried out at different particle sizes (20-100 mesh), extraction temperature (120-200 • C), extraction time (10-50 min), solvent/solid ratio (20-40 mL/g), and extraction pressure (0.6-3.0 MPa). Response surface methodology (RSM) was employed to optimize SWE conditions, and the maximum UA yield was 6.45 mg/g material. Optimal conditions are as follows: Particle size of 80 mesh, extraction temperature at 157 • C and a solvent/solid ratio of 30 mL/g. The model of experimental response was proved to predict the experimental results very well and demonstrated that UA yield was mainly depended on solvent/solid ratio, followed by particle size and temperature. The purified extract was analyzed by electrospray ionization time-of-flight mass spectrometry (ESI-TOF-MS). The acquired precursor ion was m/z 455.3532, which is consistent with calculated value of UA. Furthermore, different extraction methods, including maceration extraction, heat reflux extraction, ultrasonic extraction, microwave-assisted extraction, and SWE were comparatively analyzed, which indicated that SWE was a time-saving, cost-saving and environment-friendly extraction technology for extraction of UA from Hedyotis diffusa.