A novel nanosecond transient electric field (E-field) measurement system is developed in this paper to measure the E-field pulse caused by the operation of the high-voltage switch (switching E-field pulse) in the substation. An electrically small rod antenna is used as the receiving antenna and is matched by the operational amplifier with high input impedance to achieve broadband frequency response and stable working performance. A broadband analog optical fiber transmission system is further designed based on the high-frequency circuit model of the electronic components. Unlike the traditional frequency domain E-field measurement methods, the developed measurement system can directly output the time domain waveform of the switching E-field pulse. It also has the advantages of adjustable sensitivity, portability, and anti-electromagnetic interference. The calibrated measurement bandwidth ranges from 200 Hz to 680 MHz. Furthermore, the switching E-field pulse in an ultra-high voltage substation is measured and analyzed to verify the effectiveness of the fabricated measurement system.