A system for actuating a sensor of an agricultural sprayer may include a boom assembly and a sensor assembly supported on a portion of the boom assembly. The sensor assembly may include a field sensor movable relative to the portion of the boom assembly between an extended position and a retracted position, where the field sensor generates data indicative of one or more field conditions when in the extended position. The sensor assembly may further include a sensor actuator that moves the field sensor between the extended and retracted positions, and a controller that controls the sensor actuator to move the field sensor between the extended and retracted positions. The field sensor is spaced relative to the portion of the boom assembly by a larger distance when in the extended position than when in the retracted position.