Maximal oxygen consumption (VO2max) reflects aerobic capacity and is crucial for assessing cardiorespiratory fitness and physical activity level. The purpose of this study was to classify and predict the population-based cardiorespiratory fitness based on anthropometric parameters, workload, and steady-state heart rate (HR) of the submaximal exercise test. Five hundred and seventeen participants were recruited into this study. This study initially classified aerobic capacity followed by VO2max predicted using an ordinary least squares regression model with measured VO2max from a submaximal cycle test as ground truth. Furthermore, we predicted VO2max in the age ranges 21–40 and above 40. For the support vector classification model, the test accuracy was 75%. The ordinary least squares regression model showed the coefficient of determination (R2) between measured and predicted VO2max was 0.83, mean absolute error (MAE) and root mean square error (RMSE) were 3.12 and 4.24 ml/kg/min, respectively. R2 in the age 21–40 and above 40 groups were 0.85 and 0.75, respectively. In conclusion, this study provides a practical protocol for estimating cardiorespiratory fitness of an individual in large populations. An applicable submaximal test for population-based cohorts could evaluate physical activity levels and provide exercise recommendations.