In Japan, UAVs and 3D point cloud data are being introduced and utilized for simple and efficient maintenance and management of a wide area for earthwork structures that extend over a considerable distance due to i-Construction advocated by the Ministry of Land, Infrastructure, Transport and Tourism. By acquiring UAV and 3D point cloud data at the time of construction, it can be used as continuous data in case of deformation after construction or for daily inspections. However, the current standards don’t sufficiently verify the effects of different measurement methods on earthwork structures and their characteristics. Therefore, point cloud data were acquired on the slope of a road embankment including a reinforced soil wall using three different methods: a laser-mounted UAV (laser UAV), a laser-unmounted UAV (UAV), and a terrestrial laser scanner (TLS). As a result, the TLS was able to acquire high-density point clouds for the steep slope of the reinforced earth wall, while the laser UAV was able to acquire high-density point clouds for the entire slope with a long extension, showing differences in point cloud density depending on the target earthwork structure. The laser UAV was able to acquire point clouds evenly throughout the entire extension, but the UAV showed differences in point cloud density on the left and right sides of the slope, centered on the road pavement surface, and the TLS tended to depend on installation position.