The automation towards drilling fluid properties’ measurement has been pursued in the recent years in order to increase drilling efficiency with less human intervention. Adequately monitoring and adjusting density and rheology of drilling fluids are fundamental responsibilities of mud engineers. In this study, experimental tests that automatically characterize fluids were conducted. The basic objective is to measure the differential pressures along two sections of the pipes: one horizontal section and one vertical section. Using such measuring data, mathematical algorithms are then proposed to estimate fluids’ density and subsequently viscosity with respect to flow regimes, laminar and turbulence. The results were compared and validated with the values measured on rotational rheometers. With the help of models and numerical schemes, the work presented in the paper reveals a good opportunity to improve the accuracy and precision of continuous-measuring and monitoring fluids’ properties.