Thioglycolic acid-capped cadmium sulphide quantum dots (TGA-CdS QDs) have been synthesized and utilized as a fluorescent probe for the estimation of doripenem (DOR). Monitoring of DOR in different biological fluids is required to estimate the efficient dose to avoid bacterial infections and resistance. The investigated method is based on the measurement of fluorescence quenching of TGA-CdS QDs after the addition of DOR. The synthesized TGA-CdS QDs were characterized using transmission electron microscopy (TEM), Fourier transform infrared (FTIR) spectroscopy, X-ray powder diffraction (XRD) and ZETA sizer. The TGA-CdS QDs showed unique photophysical properties with high quantum yield (0.32) using a comparison method with rhodamine B. Different experimental parameters affecting the synthesis process of the TGA-CdS QDs and their behavior with the studied drug DOR were examined and optimized. The values of the fluorescence quenching were linearly correlated to DOR concentration over the range of 10–500 ng mL−1 with a good correlation coefficient of 0.9991. The proposed method showed higher sensitivity over several reported methods, with LOD reaching 2.0 ng mL−1. The method was effectively applied for the estimation of DOR in human plasma and urine with good recovery results ranged from 95.16% to 99.51%. Furthermore, the stability of DOR in the human plasma was studied and a pharmacokinetic study of DOR in real human plasma was conducted.