In this work, semi-automated filter micro-solid phase extraction (SA-FμSPE) packed by urea–formaldehyde (UF) microspheres coupled with corona discharge ionization-ion mobility spectrometry (CD-IMS) was developed for the extraction and determination of fentanyl and nor-fentanyl in urine samples. UF microspheres, synthesized by aqueous polymerization, can be used to achieve effective extraction of analytes through multiple adsorption interactions such as hydrophobic, dipole–dipole and hydrogen bonding interactions. UF microspheres dispersed in methanol were packed in the filter by syringe, and the extraction process was performed by a portable automatic filter extraction device. The parameters affecting extraction efficiency (i.e., extraction time, the flow rate of extraction, pH value, amount of sorbent, ionic strength, cycle times of desorption, and type of eluent) were investigated. Then, the eluate containing fentanyl and nor-fentanyl was simultaneously analyzed by CD-IMS in positive mode. Under the optimal extraction conditions, the detection limits for the target compounds were 5.00 ng mL−1 and 8.00 ng mL−1, respectively. The spiked recoveries were in the range of 81.97 % −112.37 % by testing the real samples and validated by UHPLC-MS. Thus, the satisfactory results reveal that SA-FμSPE coupled with CD-IMS has great potential for on-site extraction and detection of fentanyl and nor-fentanyl in urine samples.