Alicyclobacillus acidoterrestris (A. acidoterrestris) causes the spoilage of pasteurized acidic fruit juice due to its unique thermoacidophilic properties, which caused economic losses to fruit juice industry. To reveal the molecular regulatory mechanism of how A. acidoterrestris responded to acid stress is the key to hazard control of this microbe. Herein, acid-responsive proteome expression profiles of A. acidoterrestris were analyzed using label-free quantitative mass spectrometry to investigate its acid resistance mechanism at sublethal pH. Totally, 325 differential expression proteins were identified during acid stress (pH 2.5, 15 min duration), of which the expressions of 83 proteins were up-regulated and the other 242 protein expressions were down-regulated. The identified differentially expressed proteins were mainly involved in small molecule metabolism, organic nitrogen compounds metabolism, organic acid metabolism, and signal transduction. Overall, they were mapped into 97 metabolic pathways. Combination of KEGG pathway analysis and protein functional analysis suggested that the pH homeostasis system variation and relevant changes in metabolic pathways, cell membrane permeability and DNA repair are the main acid resistance mechanisms of A. acidoterrestris. Our finding implied that A. acidoterrestris might sense and transmit pH signals from the external environment through NhaB protein which holds histidine-dependent acid resistance system, initiating a series of acid tolerance reactions. Taken together, our study demonstrated global physiological response of A. acidoterrestris to sublethal pH, which provided a better understanding of acid adaption mechanism of A. acidoterrestris.