The failure of concrete often associated with the occurrences of cracks. Therefore, the characteristics of cracks are the important indices of the residual strength of concrete. In this study, the non-contact measurements of surface cracks on concrete members are implemented by the terrestrial laser scanning (or known as the Light Detection and Ranging, LIDAR) system. The reflection intensity information, obtained from laser scanning, is firstly transformed to build the two-dimensional grayscale intensity map. The image subtraction method is adopted to identify surface cracks in grayscale intensity map. Secondly, the characteristics of surface cracks, including width, length and area, are obtained through the image process and the spatial coordinates of the point cloud. Finally, the proposed system, combined by laser scanning and image process, is verified by the measurements of artificial cracks in laboratory and actual cracks in the full-size concrete pier under cyclic loadings. Experimental results demonstrate that large-scale and non-contact measurements of concrete surface cracks can be obtained by using the laser scanning and image process. Keywords: