The Yunshui Cave in Shangfang Mountain, Beijing, is a famous high-altitude karst cave in northern China. As the third scientific survey of Yunshui Cave in history, this is the first time to use the latest LiDAR technology to carry out a related detection survey. Traditional cave measurement methods are limited by natural conditions and make it difficult to reach the destination. Traditional methods mainly rely on experience and obtain data with strong subjectivity, making it difficult to conduct quantitative research and obtain reproducible results in the current information era. Applying LiDAR technology to cave measurement can obtain comprehensive and accurate digital measurement results within the same survey time and reveal many richer and more accurate features of Yunshui Cave. The obtained digital measurement results can be used for 3D modeling as well as provide a large amount of accurate basic data and preliminary materials for subsequent geological, environmental, and archaeological investigation and analysis, as well as cultural and tourism resource development. The rapid geological survey of Shangfang Mountain Yunshui Cave using LiDAR technology shows that LiDAR cave geological survey technology can achieve real-time collection of centimeter-level accuracy and generate billions of points of cloud data, greatly improving survey efficiency and accuracy. At the same time, digital survey results can be obtained. Through modeling and GIS technology, all on-site survey details can be easily moved back to the laboratory for real-scene reproduction, network sharing, and dissemination. This study provides a foundation for future explorations of the Yunshui cave and highlights the potential for LiDAR techniques to enhance our understanding of complex geological structures such as caves.