The physical properties of fruits in the agriculture industry constitute the main information in the quality determination for activities as exportation. This work presents a visual inspection based method for the classification of mango (Mangifera Indica L.). The classification process is made according to the Norma Tecnica Colombiana (Colombian Technical Norm) NTC 5139 standard, by means of automatic estimation of physical properties of fruits, such as height, width, volume, weight, caliber, and maturity level using the Principal Component Analysis and a fruit’s ellipsoidal 3-D model. Finally, the level of maturity is inferred through a similarity measure of the color distribution between the fruit and experimentally fixed models in the HSL space. The results showed that the method is computationally efficient, non invasive, precise and of low cost.