This study investigated the application of the borehole laser scanning technology (BLST) method in the detection of both dry and water-filled karst caves. In order to solve the problem of excessive laser attenuation during the detection, we designed a test for the characteristics of multiwavelength laser attenuation in water-filled karst caves and studied the influence exerted by various factors, including different wavelengths, different laser power levels, different suspended media, and effect of turbidity on the attenuation coefficient. During the test, we discovered the existence of a “blue-green window” with low turbidity and a “near infrared window” with high turbidity in karst cave water environments. Based on the general survey results of drilling and comprehensive geophysical prospecting, a quantitative method using targeted drilling was proposed to detect the spatial morphology of karst caves in complex environments. We also investigated the effects of complex environmental factors such as suspended media and high turbidity on the laser detection distance and accuracy in karst caves, and established a quantitative matching model of laser wavelengths, laser power, and complex environmental parameters. Based on this, we obtained the best acquisition mode for detecting lasers in different karst development environments. A high-precision, three-dimensional visualized model of a real karst cave was established to quantitatively obtain the characteristic parameters, such as accurate position, three-dimensional shape, space volume, and cave filling type, which was applied to the detection of karst caves along the Jinan subway line.