In droplet microfluidics, precise droplet manipulation is required in numerous applications. This study presents ultrasonic surface acoustic wave (USAW)-based microfluidic device for label-free droplet separation based on size. The proposed device is composed of a slanted-finger interdigital transducer on a piezoelectric substrate and a polydimethylsiloxane microchannel placed on the substrate. The microchannel is aligned in the cross-type configuration where the USAWs propagate in a perpendicular direction to the flow in the microchannel. When droplets are exposed to an acoustic field, they experience the USAW-induced acoustic radiation force (ARF), whose magnitude varies depending on the droplet size. We modeled the USAW-induced ARF based on ray acoustics and conducted a series of experiments to separate different-sized droplets. We found that the experimental results were in good agreement with the theoretical estimation. We believe that the proposed method will serve as a promising tool for size-based droplet separation in a label-free manner.