Structural inspection is crucial for comprehensive risk management, especially given the accelerated deterioration caused by factors such as climate change and obsolescence. The accurate determination of the percentage of surface damage is fundamental for optimizing maintenance decision-making and the administration of resources for infrastructure preservation. This work presents a methodological exploration to assess the superficial condition of a concrete pedestrian bridge located over an urban river. The study focuses on determining the structural conditions by calculating the percentage of surface damage to evaluate maintenance needs. For data acquisition, Light Detection and Ranging (LiDAR) technology is employed using a Terrestrial Laser Scanner (TLS) Trimble X7 laser scanner, generating a 3D point cloud that models the bridge surface with precise spatial coordinates. The methodology utilizes the reflective intensity of the laser pulses to obtain quantitative information about the surface. This approach allows for the precise identification, demarcation, and quantification of deteriorated areas. The application of this methodology facilitates a non-invasive and detailed diagnosis of the surface condition, providing quantitative and visual information that can enhance the maintenance planning of critical infrastructure such as pedestrian bridges.