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Appointing to the issue that the lens of the video camera is easy to be contaminated, an undersea pan-tilt auto-clean system was designed. This system is based on MSP430 controller and assembles with the peripheral, such as motor driver, travel limitation, angle detection and cleaning brush. The system uses the method of image quality assessment that is called gradient-magnitude-based structure similarity (GSSIM) to judge the contamination of the lens. When contamination exceeds the threshold value, the MCU drives the cleaning brush through the serial port to clean the contamination automatically. Experiment shows that the system cleans the lens automatically according to the outcome of the assessment of real-time image quality, which overcomes the disadvantage of the difficulty of the manual cleaning and the power consume of the regular cleaning. Therefore, the system is fast and efficient, and can guarantee the normal operation of the video camera.