The significant advancement in drone technology has led to increased usage across different scientific domains. In the field of archaeology, drones became increasingly popular a decade ago, primarily for photogrammetric documentation or aerial photography. Since then, researchers have experimented with new applications, notably utilizing LiDAR imagery to enhance archaeological surveying. In this context, one of the latest applications involves surveying open-air rock art shelters in inaccessible locations to search for prehistoric rock art imagery. The current study involves refining the methodology used for this purpose in the territory of UNESCO’s World Heritage List property Rock Art of the Mediterranean Basin of the Iberian Peninsula, utilizing the DJI Mavic 3 foldable drone, which represents a significant improvement over previous models. On the other hand, it highlights the potential for its utilization in conservation studies and managing human activity in their environments, considering the threats to which these sites are currently exposed.