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To solve the problem that the existing contact fruit diameter measurement process is tedious and time-consuming, as well as the susceptibility to record errors influenced by the subjective judgments of experimenters during prolonged measurement, a handheld apple tree fruit diameter measurement system was designed. The system incorporated technologies such as mechanical design, serial communication, and automatic control. It consisted of a handheld fruit diameter measurement tool and a corresponding data-receiving mobile APP. During orchard operations for measuring tree fruit diameter, experimenters held the grip of the fruit diameter measurement tool. By pressing the handle, the transmission module was activated, causing the clamps to open, allowing them to grip and measure the diameter of the tested fruit surface. The data was then transmitted to the mobile APP via Bluetooth for operations such as saving, editing, binding location information, and batch exporting. To assess the precision of the handheld fruit diameter measurement tool, metric block gauge measurements and apple diameter measurement experiments were conducted. Results of the metric block gauge measurement experiment demonstrated that the proposed measurement tool achieved sub-millimeter-level precision. Apple diameter measurement experiment results indicated that the proposed measurement tool achieved a more satisfactory accuracy in measuring apple tree diameters compared with vernier caliper. Even when measuring the diameters of mature fruit, the majority of the measured fruit diameters had mean square error (MAE) and root mean squared error (RMSE) controlled below 0.45mm, meeting the precision requirements for apple fruit diameter measurement.