Objective The purpose of this study was to observe the three-dimensional growth and development of the maxillary arch in 10-year-olds with normal occlusion during the late mixed dentition stage. Methods Forty-four 10-year-old students (22 males and 22 females) who had normal occlusion during late mixed dentition were selected from an elementary school in Beijing, China. Once per year for three consecutive years, a dental cast was obtained from each subject, and the cast was scanned with a 3D digital scanner (R700 3D). The three-dimensional measurements of the maxillary dental arch and the inclination of the bilateral maxillary first molars were obtained from the digital model. Results The upper anterior arch length (UAAL), upper total arch length (UTAL), upper inter primary or permanent canine width (UICW), upper intermolar width (UIMW), and upper dental arch length (UDAL) increased by 0.959 mm, 0.583 mm, 0.955 mm, 1.462 mm, and 2.46 mm, respectively, over the two years (P < 0.001). UR6BL and UL6BL decreased by 4.416° and 7.133°, respectively, over the two years (P < 0.001). The values of the UICW and UIMW were 1.67 mm and 1.86 mm, respectively, larger in males than in females at 12 years old (P < 0.01). The change in the UTAL was 0.431 mm greater in males than in females over the 2 years (P < 0.05). Conclusion The UAAL, UTAL, UICW, UIMW, and UDAL in 10- to 12-year-olds with normal occlusion increased with age. The buccolingual inclination of the bilateral maxillary first molars inclined to the palatal side with age. The UICW and UIMW were larger in males than in females at 12 years old. The male UTAL increased more than the female UTAL over the 2 years.