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The bridgehead settlement problem continues to be one of the most chronic issues affecting long-term bridge performance. In addition, the magnitude of non-staggered-step settlement across the bridge approach transition has not been quantified. Non-contact measurement is considered an alternative to manual inspection, enabling automated damage evaluation for structural maintenance. This paper proposes an inexpensive automatic system using an inertial navigation sensor and a line scanning camera to evaluate the non-staggered-step bridgehead settlement with acceptable accuracy. By analyzing road longitudinal slope data, driving distance, and pavement images, this paper established a calculation model and algorithm of non-staggered-step bridgehead settlement, in which case, a new calculation index named the settlement point ratio (SPR) was proposed. Moreover, the effect of the vehicular detection system and the distance gradient tested at three speeds were measured. The results illustrate that the system has a good performance in longitudinal slope data with an absolute error of less than 1.5%. In addition, 31 bridges in China, Ningbo city, were selected. Combined with the test data, 50 groups of SPR were output using the established model and algorithm. By validating the system’s output with the standard measurement method, correlation, and regression analysis were carried out in order to verify the SPR model’s reliability. The correlation coefficient is 0.934, and the determination coefficient of the regression model is 0.872, which confirms its capability for accurate data collection and settlement measurement. Therefore, the proposed method is scientific and reasonable for detecting and quantifying non-staggered-step bridgehead settlement, effectively completing the research blank of bridgehead settlement detection.