Recycling citrus peel waste offers several significant contributions to sustainability, transforming what would otherwise be discarded into valuable resources. In this study, the colour of sausages stored for 16 days, with varying amounts of orange extract added to the modified casing solution, was evaluated using response surface methodology (RSM) and a hyperspectral imaging system within the spectral range of 350–1100 nm for the first time. To enhance model performance, spectral pre-treatments such as normalisation, first derivative, standard normal variate (SNV), second derivative, and multiplicative scatter correction (MSC) were applied. Both raw and pre-treated spectral data, along with colour attributes, were fitted to a partial least squares regression model. The RSM results indicated that the highest R2 value, 80.61%, was achieved for the b* (yellowness) parameter using a second-order polynomial model. The interactive effects of soy oil and orange extracts on b* were found to be significant (p < 0.05), and the square effects of soy oil on b* were significant at the 1% level. The identified key wavelengths for colour parameters can simplify the model, making it more suitable for practical industrial applications.