Pavement maintenance seeks to provide optimal service conditions. Before maintenance, it is necessary to know the condition of the pavement by inspection, a crucial step in deciding on the repair to be carried out. In this sense, unmanned aerial vehicles (UAVs) seem to be an economic substitute compared to the ground laser scanner for pavement inspection tasks. This research seeks to develop a method to measure potholes using 3D models generated with photographs acquired by a UAV and process them using a software based on the Structure from Motion-MultiView Stereo (SfM–MVS) technique. The contribution of this document is the proposal of recommendations for the acquisition of photographs for the realization of the models. To develop these recommendations, an experiment was carried out to evaluate the accuracy in the reconstruction of 3D models using images obtained from the variation and combination of flight planning parameters and data capture. Then, to validate these recommendations, a bumpy section of pavement was modeled using the SfM–MVS method. The results show that for heights of 10 and 15 m the use of this methodology is applicable for the measurement of the width and depth of potholes.