Nowadays, “green analytical chemistry” challenges are to develop techniques which reduce the environmental impact not only in term of analysis but also in the sample preparation step. Within this objective, pressurized liquid extraction (PLE) was investigated to determine the initial composition of key antioxidants contained in rosemary leaves: Rosmarinic acid (RA), carnosic acid (CA), and carnosol (CO). An experimental design was applied to identify an optimized PLE set of extraction parameters: A temperature of 183 °C, a pressure of 130 bar, and an extraction duration of 3 min enabled recovering rosemary antioxidants. PLE was further compared to conventional Soxhlet extraction (CSE) in term of global processing time, energy used, solvent recovery, raw material used, accuracy, reproducibility, and robustness to extract quantitatively RA, CA, and CO from rosemary leaves. A statistical comparison of the two extraction procedure (PLE and CSE) was achieved and showed no significant difference between the two procedures in terms of RA, CA, and CO extraction. To complete the study showing that the use of PLE is an advantageous alternative to CSE, the eco-footprint of the PLE process was evaluated. Results demonstrate that it is a rapid, clean, and environmentally friendly extraction technique.