The present study explored a rapid and facile colorimetric identification of two antidepressants (paroxetine and duloxetine) and one antipsychotic drug (olanzapine) in aqueous and micellar systems using citrate-stabilized gold nanoparticles (Cit-AuNPs). The sensing approach involved hydrogen bonding and electrostatic interactions on the surface of Cit-AuNPs. The attributes of Cit-AuNPs and their interactions with the drugs were probed using characterization techniques like UV–Vis spectroscopy, scanning electron microscopy (SEM), dynamic light scattering (DLS), zeta potential measurement, and Fourier-transform infrared spectroscopy (FT-IR). Various factors including the volume of Cit-AuNPs, pH, reaction time, surfactant concentration, and the sequence of addition of reagents were optimized to inspect their impacts on sensing results. Under optimized conditions, the probe showed good linearity for the three drugs at the nanomolar (nM) range. Consequently, the color of the Cit-AuNP solution transformed from red to royal purple and blue, which was visible to the naked eye and monitored by visible absorption spectra. This label-free optical detection approach could recognize paroxetine (Prx), duloxetine (Dlx), and olanzapine (Olz) in aqueous system at concentrations ranging from 1 to 17 nM with a limit of detection (LOD) of 0.312, 0.258, and 0.418 nM (S/N = 3), respectively. Meanwhile, the sensitivity was improved in the Triton X-100 (TX-100) micellar system with LOD of 0.029, 0.030, and 0.029 nM for Prx, Dlx, and Olz, respectively accompanied by a shift in the absorption bands. The micellar system contributes stability to the Cit-AuNP-drug complex. The devised colorimetric approach was convenient and did not require any complex equipment. It was efficaciously used to detect three drugs in pharmaceutical products, spiked human urine, and blood serum samples with satisfactory recoveries of 99.83–103.45% and RSD < 3.5%. Notably, the sensing assay demonstrated good selectivity for three drugs in the existence of commonly encountered foreign species and certain common drugs with a relative error below 3%. The results of the present study were statistically compared with reference methodology. The results were validated with no significant difference between the devised and reported approaches considering precision and accuracy, respectively.