Two different molecularly imprinted polymers (MIPs) were prepared by precipitation polymerization using linuron or isoproturon (phenylurea herbicides) as templates and trifluormethacrylic acid as functional monomer. These materials were used as selective sorbents in the development of molecularly imprinted solid-phase extraction (MISPE) procedures for the determination of several phenylurea herbicides (fenuron, metoxuron, chlortoluron, isoproturon, metobromuron, and linuron) in plant samples extracts. The MISPE procedures were fully optimized and applied to the clean up of selected phenylurea herbicides in carrot, potato, corn, and pea sample extracts and finally determined by HPLC-UV at 244 nm. Although a high degree of clean up was obtained, a decrease of the MIP recognition capabilities was observed in subsequent runs. Thus, a previous clean up protocol based on the use of a non-imprinted polymer was used to prevent the loss of MIP performance and to ease the removal of interferences. Following this procedure, namely two-step MISPE, matrix compounds were almost completely removed by the non-imprinted polymer retaining the ability of MIPs to selectively rebind target analytes unaltered. The developed MISPE procedures allowed the screening of phenylurea herbicides in plant samples at concentration levels required by established European maximum residue limits.