This study describes the development of a low-cost agricultural robotic boom sprayer that can be used to spray pesticides and fertilizers on agricultural orchards, and to counteract the rise in human intervention and protect agricultural workers from possible health hazards. The system comprised of embedded controllers in order to provide end-to-end automation for spraying activities and to overcome body discomfort, vibrations, noise, operating cost, wastage of water and health hazards associated with traditional sprayers. The robotic sprayer was gauged for discharge rate and field efficiency in high-density apple orchards that are majorly present in the Kashmir Region. With an optimal operating parameter set at 1.45 kg cm−2 for the operating pump pressure, 135 cm for the boom height, and 0.61 km h−1 for the forward speed, the designed sprayer produced an average discharge rate of 974.33 ml min−1 with 83.50% field efficiency. The statistical analysis depicted that only pressure had a significant effect on discharge rate of nozzle at 5% level of significance. The fabrication cost of the sprayer was ₹11,571. For the designed machine, the corresponding benefit-to-cost ratio, break-even threshold, and payback duration were 1.66, 0.71 ha, and 286.77 h. The hourly operating cost of machine was Rs 89.68. The performance of developed sprayer was found to be advantageous and cost-effective when compared to the typical sprayer used in the region.