In the modern agricultural model, more and more attention has been paid to green production and sustainable agriculture practices. In this study, a simple and eco-friendly extraction method for the rapid assessment of nine different pyrethroid pesticides in surface soil samples was developed by the temperature-responsive deep eutectic solvent-based ultrasound assisted extraction. Three different temperature-responsive deep eutectic solvent systems of various classes were prepared to extract pyrethroid pesticides from spiked soil samples. The total spiked recovery displayed that temperature-responsive deep eutectic solvent composed of ethanolamine and o-cresol with molar ratio 1:1 was the optimum extraction solvent for temperature-responsive deep eutectic solvent-based ultrasound assisted extraction procedure. Based on Box-Behnken Design, the maximum extraction recovery (%) of total pyrethroid pesticides was 94.23% under the following conditions: extraction temperature of 68 °C, extraction time of 35 min, and solid–liquid ratio of 21 mg/mL. Meaningfully, the extraction recovery of pyrethroid pesticides was still more than 80% after fifth cycles of temperature-responsive deep eutectic solvent, demonstrating that temperature-responsive deep eutectic solvent could be repeatedly used. The detection results of actual soil samples indicated that the pyrethroid pesticide residues (8.42–28.72 μg/kg) in vineyard region were the most serious, which may be due to the high incidence of insect pests and the abuse of pesticides. The temperature-responsive deep eutectic solvent-based ultrasound assisted extraction method with the advantages of fast, trace, and high efficiency could be successfully applied to pyrethroid pesticide residues analysis in surface soil samples.