Asphalt concrete (AC) density serves as a critical criterion for quality control and quality assurance in asphalt pavement construction. Current non-destructive testing (NDT) approaches have shown potential for AC density measurement, but they present disadvantages such as inefficiency and unstable accuracy. This paper developed a novel NDT approach for AC density measurement based on non-contact interdigital coplanar capacitive sensor (ICCS). The feasibility of this approach was evaluated through both numerical and experimental validations. Firstly, the theoretical model of non-contact ICCS for AC density measurement was established based on conformal mapping technique, partial capacitance technique, and dielectric mixing model. Secondly, numerical simulations were performed to validate the developed theoretical model under two scenarios. Thirdly, laboratory experiments were conducted to measure capacitance data and predict density for three common types of ACs. Finally, the error of non-contact ICCS was discussed and compared with that of other NDT instruments. The results indicated that the developed theoretical model could establish the relationship between AC density and capacitance value, which provided the basis for AC density measurement using non-contact ICCS. It was also observed that the capacitance data obtained by the proposed model closely matched those computed by numerical simulations. The maximum errors between theoretical and numerical data were 4.10% and 1.08% for two cases respectively, which proved the feasibility of the theoretical model. Furthermore, experimental results indicated that the capacitance value of AC specimens increased by about 1 pF as the rolling time increases due to a decrease in the volume of air in AC, which reaffirms the validity of AC density measurement using non-contact ICCS. Additionally, the non-contact ICCS demonstrated excellent accuracy with a maximum error of 6.69%, which is comparable to the current mainstream NDT approaches. And it has the advantages of lower cost, simpler data processing and higher efficiency. The findings of this paper offer a new and reliable method and tool for non-destructive and large-scale AC density measurement.