An efficient and low-cost method of ultrasound-assisted upper liquid microextraction combined with directly molecular fluorescence spectrometry was developed, optimized, and validated for detection of bisphenol A in commercial beverages in cans and plastic bottles. A quick procedure of bisphenol A extraction and cleanup was achieved in one step, namely, ultrasound-assisted upper liquid microextraction, and ethyl acetate was selected as extraction solvent to extract the target compound from samples, which were saturated by Na2CO3. The target compound was then transferred into ethanol-water solution for fluorescent analysis aided by β-cyclodextrin. With optimized parameters, the validation study showed bisphenol A could be detected between 5.0 to 175 μg L−1 concentration ranges with correlation coefficient (R2) of 0.998. The limit of detection was 1.10 μg L−1. The repeatability for the 5 and 50 μg L−1 standard addition was lower than 5.0%, respectively. The acceptable recoveries ranged from 80.5 to 93.7% with relative standard deviation of less than 10%. The proposed method was successfully applied into the real samples detection.