Mangrove is a typical intertidal plant growing on tropical and subtropical coastlines, which has significant ecological and economic value. Strengthening mangrove monitoring is an important work for effective protection of mangrove. Mangrove demonstration area in the East coast of Leizhou, Guangdong Province was selected as the study area. The inversion model of mangrove structural parameters was established by using high-density point cloud data of unmanned aerial vehicle light detection and ranging (UAV-LiDAR) and measured quadrat data in the sample area. Results show that the accuracy of single tree height inversion is the best in the case of Sonneratia apetala, followed by Kandelia candel, and the lowest in the case of Avicennia marina. The overall inversion accuracy of the crown width parameters of individual mangrove tree is poor, and the highest recognition accuracy is the Sonneratia apetala. The UAV-LiDAR technology can effectively extract mangrove structural parameters, replace the traditional mangrove manual measurement method, and provide high-precision basic data for the dynamic change monitoring and protection of mangrove resources.