In this paper, a one-time digestion method for the determination of arsenic (As), antimony (Sb), selenium (Se), and mercury (Hg) in geological samples was established. The optimum digestion conditions were determined with aqua regia-hydrofluoric acid (HF)-H3BO3 as a complexing open system, and the contents of As, Sb, Se, and Hg in the same digestion solution were determined by chemical vapor generation non-dispersive atomic fluorescence spectrometry (CVG-AFS). For the determination of As, Sb, Se, and Hg, the method detection limits were 0.53 mg/kg, 0.047 mg/kg, 0.009 mg/kg, and 0.00047 mg/kg, respectively, Δ log C was -0.043–0.048, and the %RSD values were lower than 8.5%, performing with good accuracy and precision. This digestion method avoids the fractional processing of each element, simplifies the digestion steps, saves pretreatment time, and improves efficiency. The digestion method also showed wide applicability, high sensitivity, and low detection limits, and it can be used as a quick method for monitoring and controlling heavy metal pollution in large-scale geological samples.