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A novel non-contact spacecraft architecture with the extended stochastic state observer for disturbance rejection control of the gravity satellite is proposed. First, the precise linear driving non-contact voice-coil actuators are used to separate the whole spacecraft into the non-contact payload module and the service module, and to build an ideal loop with precise dynamics for disturbance rejection control of the payload module. Second, an extended stochastic state observer is enveloped to construct the overall nonlinear external terms and the internal coupled terms of the payload module, enabling the controller design of the payload module turned into the linear form with simple bandwidth-parameterization tuning in the frequency domain. As a result, the disturbance rejection control of the payload module can be explicitly achieved in a timely manner without complicated tuning in actual implementation. Finally, an extensive numerical simulation is conducted to validate the feasibility and effectiveness of the proposed approach.