A rapid determination method of residual penicillin G and its two metabolites in citrus was developed and validated by dispersive solid‐phase extraction and ultra‐high performance liquid chromatography–tandem mass spectrometry (DSPE/UPLC–MS/MS). The samples were extracted with 80% acetonitrile and purified with octadecylsilane. High linearity was obtained with correlation coefficients (r2) >0.9981. The limits of quantification were 0.005–0.01 mg/kg. The recoveries of penicillin G and its metabolites spiked in blank citrus were within 76.7–107%, with relative standard deviations of 1.3–9.6%. The dissipation dynamics and distribution of penicillin G in citrus followed first‐order kinetics, with half‐life of 1.7–2.7 days. Penicillin G degraded easily in citrus and the metabolite was mainly penilloic acid, which can exist stably for long time. The terminal residues of penicillin G in pulp, whole citrus and peels were 0.015–0.701, 0.047–7.653 and 0.162–13.376 mg/kg, respectively. The hazard indexes for risk assessment of citrus were significantly <1, suggesting that the health risks to humans after consumption of citrus were insignificant and negligible. These results could provide necessary data for evaluating the safe and proper use of penicillin G in citrus.