Recently, laser scanning has been receiving greater attention as a useful tool for real-time 3D data acquisition, and various applications such as city modelling, DTM generation and 3D modelling of cultural heritage sites have been proposed. And, former digital data processing were demanded in the past digital archive techniques for cultural heritage sites. However, robust filtering method for distinguishing on- and off-terrain points by terrestrial laser scanner still have many issues. In the past investigation, former digital data processing using air-bone laser scanner were reported. Though, efficient tree removal methods from terrain points for the cultural heritage are not considered. In this paper, authors describe a new robust filtering method for cultural heritage using terrestrial laser scanner with "the echo digital processing technology" as latest data processing techniques of terrestrial laser scanner.