Veterinary drugs are generally used to prevent and treat diseases in dairy farming. However, abuse or improper use may lead to veterinary drugs residues remaining in milk, which may cause serious side effects on consumers, such as allergic reactions, drug resistance, and toxicity. Therefore, maximum residue limits (MRL) for veterinary drugs have been set by many authorities in the world, including China to guarantee the safety. Rapid screening methods for multiple residues have been widely used in routine test to find the positive ones for further confirmation. In this study, we examined 148 samples of ultra-high temperature (UHT) milk and 50 samples of pasteurized milk collected from the market in China in 2016, using ELISA-based visualization microarray chip technique to assess contamination with tetracyclines, quinolones, lincomycin, and streptomycin. Results showed that the detection rates of tetracyclines, quinolones, lincomycin, and streptomycin in UHT milk samples were 4.7, 3.3, 2.7, and 15.5%, respectively, and in pasteurized milk samples were 16.0, 4.0, 2.0, and 14.0%, respectively. The maximum concentrations of the tetracyclines, quinolones, lincomycin, and streptomycin in all liquid milk samples were 9.06, 4.06, 7.66, and 8.92 μg kg⁻¹, respectively, which is lower than MRLs set by China, the European Union (EU) and the Codex Alimentarius Commission (CAC).