This study evaluated the integration of non-invasive remote sensing and colorimetry to classify the maturity stages of Coffea arabica fruits across four varieties: Caturra Amarillo, Excelencia, Milenio, and Típica. Multispectral signatures were captured using a Parrot Sequoia camera at wavelengths of 550 nm, 660 nm, 735 nm, and 790 nm, while colorimetric parameters L*, a*, and b* were measured with a high-precision colorimeter. We conducted multivariate analyses, including Principal Component Analysis (PCA) and multiple linear regression (MLR), to identify color patterns and develop predictors for fruit maturity. Spectral curve analysis revealed consistent changes related to ripening: a decrease in reflectance in the green band (550 nm), a progressive increase in the red band (660 nm), and relative stability in the RedEdge and near-infrared regions (735–790 nm). Colorimetric analysis confirmed systematic trends, indicating that the a* component (green to red) was the most reliable indicator of ripeness. Additionally, L* (lightness) decreased with maturity, and the b* component (yellowness to blue) showed varying importance depending on the variety. PCA accounted for over 98% of the variability across all varieties, demonstrating that these three parameters effectively characterize maturity. MLR models exhibited strong predictive performance, with adjusted R² values ranging between 0.789 and 0.877. Excelencia achieved the highest predictive accuracy, while Milenio demonstrated the lowest, highlighting varietal differences in pigmentation dynamics. These findings show that combining multispectral imaging, colorimetry, and statistical modeling offers a non-destructive, accessible, and cost-effective method for objectively classifying coffee maturity. Integrating this approach into computer vision or remote sensing systems could enhance harvest planning, reduce variability in specialty coffee lots, and improve competitiveness by ensuring greater consistency in cup quality.