Growth and yield projections and current inventory assessment of a forest stand are essential tasks for successfully conducting sustainable forest management. However, much is still unknow about the amount and distribution of forest resources in subtropical island of Okinawa, Japan. Therefore, there is an urgent need to develop an effective and efficient measurement system to evaluate various forest inventory parameters such as tree diameter, tree height, and tree volume for an intricately shaped tree species common in subtropical areas. In recent years there has been rising interest in the so-called Unmanned Aerial Vehicle (UAV) -Structure-from-Motion (SfM) -Multi-View Stereo (MVS) (UAV-SfM-MVS) survey approach, which processes image data captured by UAV to develop 3D models and allows the efficient estimation of various forest inventory parameters of standing trees, without the alteration of the surrounding environment. However, the application of UAV-SfM-MVS survey approach in subtropical areas is scarce. With the aim of establishing a relatively simple but accurate forest measurement method that allows for efficient data collection of broad-leaved tree species common in a subtropical forest, we were able to conduct field experiments and acquire video data from a drone flown under tree canopy. In this paper, we developed a 3D models using SfM-MVS technique to estimate tree diameter and volume. To validate our approach, the proposed method was compared with ground truth measurements. We concluded that our approach was able to estimate tree diameters and stem volumes in our surveyed plots with a high degree of accuracy at root mean square error (RMSE) of 0.4-0.7 cm for DBH and RMSE of 0.0045-0.0147 m 3 for stem volume within a shorter survey time. Although modeling of tree crown and tree parts where understory vegetation impeded camera view remains a topic for future research, we were able to demonstrate that under canopy UAV-f-MVS survey approach is relatively simple but provide highly accurate measurements of standing trees in subtropical forests without altering the surrounding environment.