Objective To evaluate the anesthetic effects and safety of ciprofol combined with low‑dose sufentanil in outpatients undergoing painless gastrointestinal endoscopy. Methods Adult outpatients undergoing painless gastrointestinal endoscopy were selected. According to the random number table method, they were divided into two groups (n=82): a ciprofol group and a propofol group. The ciprofol group was administered with 0.1 μg/kg of sufentanil and 0.4 mg/kg of ciprofol, while the propofol group was given 0.1 μg/kg of sufentanil and 1.5 mg/kg of propofol. Their heart rate, MAP and SpO2 were observed after entry into the room (T0), after anesthesia induction (T1), 5 min after the endoscope was inserted (T2), and after discharge from the room (T3). Their success rate of sedation, operating time, anesthesia induction time, recovery time, total drug dosage, the incidence of adverse events and the satisfaction of patients and physicians were recorded. Results Compared with those at T0, the heart rate and MAP of both groups decreased at T2 and T3 (P<0.05), without statistical difference (P>0.05). There was no significant difference in SpO2 between the two groups at each time point (P>0.05). The successful sedation rate was 100% in both the ciprofol and propofol groups. Compared with the propofol group, the ciprofol group showed reduced induction time and recovery time (P<0.05), and improved patient satisfaction (P<0.05), but there was no statistical difference in operating time and physician satisfaction between the two groups (P>0.05). The overall incidence of adverse events in the ciprofol group was significantly lower than that in the propofol group (P<0.001), which was mainly manifested as a lower incidence of hypoxemia, hypotension, and injection pain (P<0.05). Conclusions Ciprofol combined with low‑dose sufentanil can be used for calming outpatients undergoing gastroenterology, with the advantages of a low incidence of adverse events and high patient satisfaction.