Boron removal from aqueous solutions has attracted increasing attention, offering benefits for animal and plant health as well as profound significance for exploiting Salt Lake boron resources. In this work, we synthesized novel glycidol-functionalized and hydrophilic polyaniline (PANI) nanorod adsorbents, which were prepared to separate boron compounds from boric acid aqueous solutions. The as-prepared adsorbents were significantly different from the traditional polymers’ grafting reaction because they had a higher functional yield and more active position for adsorption. The maximum adsorption capacity (0.2210 mmoL∙g⁻¹) and optimal adsorption conditions (boric acid concentration of 1307 mg/L, pH = 9.82, time of 10 h) were obtained with single-factor experimentation and the response surface method (RSM). In addition, adsorption kinetics studies showed that the adsorption reaction belonged to the pseudo-first-order kinetic model, and diffusion was the key limiting factor; therefore, the adsorption equilibrium time is more than 10 h. Finally, the related possible adsorption mechanism was investigated based on the species and the diffusion of boron in the aqueous phase.