In this study, a two-stage electrostatic precipitator (ESP) was developed using a novel automatic dry cleaning device to reduce the ultrafine particles in subway stations. Collection efficiency was evaluated with a pilot scale ESP (1.2m× 1.2m) and the scale of the test duct was half of the subway air handling unit. The maximum collection efficiency for 0.3 μm particles was 96.9%. In addition, we studied a method of automatic dry cleaning for maintenance of the ESP. The cleaning efficiency was analyzed according to the cleaning flow rate for each particle loading amount to achieve a recovery rate over 90%. In addition, we derived the equation to estimate the reduction in collection efficiency according to the particle loading amount. It was confirmed that the performance of the contaminated ESP was restored to the initial state by the automatic dry cleaning in this study and that the electrical energy consumption was 5 times lower compared to utilizing conventional water cleaning.