For road construction, cracking is the main factor affecting pavement damage, which can decrease the quality of pavement and seriously affect transportation. To ensure the quality of the road surface for safety transportation, it needs to check the status of the road surface periodically. Structural health monitoring solutions, such as strain gauges and fiber optics systems, have been proposed for the monitoring of such cracks. However, expensive devices prevent these solutions being deployed. In this study, a low-cost 2D laser scanner, HOKUYO UTM 30LX, is used to detect the cracks on asphalt pavement. The point-clouds are created aligned and merged. Then, the normal vectors of all points are computed. From this result, the dip angle is generated. Thanks to the difference of dip angle, the crack and its affected area can be detected directly from the point cloud. This study confirms the ability of using a 2D laser scanner for detecting asphalt pavement cracks. It is expected that all information of the crack can be extracted and analyzed automatically by applying an image processing algorithm in the near future.