Removal of antibiotics detected in wastewater or natural aquatic systems by regular municipal treatment is challenging. Photocatalysis is considered to be the most well-known and green strategy for such removal. However, the catalytic efficiency is restricted by UV radiation dependence, fast electron-hole recombination, and low porosity/surface area of the photocatalyst. In this study, we have developed a highly porous anatase TiO$_2$-polymethylsilsesquioxane(PMSQ) aerogel with nonmetal carbon dopant, which can simultaneously enhance the adsorption ability and visible light photo-activity. And tetracycline hydrochloride (TCH) was selected as a model antibiotic. A high surface area (747 g cm$^{-3}$) C-TiO2-PMSQ aerogel can remove 91% TCH within 180 min under visible light. But the removal needs to be in an isopropyl alcohol/water co-solvent, due to the intrinsic hydrophobicity of PMSQ. After a heat treatment under 400°C, the surface area of C-TiO$_2$-PMSQ aerogel decreases to 618 g cm$^{-3}$, and the sample loses its hydrophobicity, the removal of TCH can be in aqueous condition and the efficiency increases to 98%. Moreover, both catalysts can be recycled 7 times and still maintain high removal efficiency (85 and 64% remained for hydrophobic and hydrophilic gels, respectively).