Tangerine (Citrus reticulata. CRP) and grapefruit (Citrus paradisi. CPP) pectins obtained by ultrasound-assisted extraction (UAE) and conventional extraction (CE) using citric acid were characterized to establish their potential uses as an alternative source of commercial pectin. The pectins obtained by UAE and CE presented a pseudoplastic fluid characteristic with shear thinning behavior, a high esterification degree (CRP 82.30–71.81% and CPP 84.25–72.15%) and were of commercial quality based on galacturonic acid content (CRP 76.03% and CPP 76.03–71.01%). CPP presented greater viscosimetric molecular weight than CRP. Meanwhile, CRP presented greater polyphenol and protein content with respect CPP. The functional properties were influenced by citrus source and extraction method. UAE favored greater yields in a shorter time (CPP: 26.05%, 30 min; CRP: 13.46%, 15 min) compared to CE. UAE combined with the use of citric acid offers an effective alternative for obtaining high-quality pectins with lower polluting effluent, time and energy requirements.