Uranium-contaminated soil can be cleaned using an acid washing process. However, high-concentration acid washing generates substantial amounts of radioactive waste, making it essential to develop a treatment process using low-concentration acid. This study evaluated the effectiveness of low-concentration sulfuric acid washing for uranium removal from contaminated soil. Experiments were conducted with a 0.05 M sulfuric acid solution. With a mixing ratio of soil to acid solution at 1:5, three consecutive washes were sufficient to remove uranium from contaminated soil to clearance level. During the acid washing process, real-time pH monitoring was performed to analyze the correlation between uranium leaching and pH changes. This led to the establishment of a monitoring-based process control strategy. In conclusion, we identified an effective method for removing uranium from soil under low acid concentration conditions. Consequently, significant reductions in radioactive waste generation are anticipated.