In the periodic inspection of bridges, the condition is determined based on visual inspection, and the classification of countermeasures and diagnosis of soundness are conducted to serve. Condition data on the external shape and degree of damage are obtained for reference when utilizing past inspection results and considering maintenance and management plans. Furthermore, periodic inspections must be conducted appropriately while sharing information with other maintenance providers under the division of roles, and it is important to transfer information such as inspection results and repairs. In this study, we proposed a method of extracting damage from three-dimensional point cloud data measured using terrestrial laser scanner (TLS) during a field inspection prior to a periodic inspection in order to perform primary screening to identify damage that is subject to detailed inspection of bridges. We measured a bridge using a TLS and a camera, analyzed the difference between the acquired point cloud data and a reference plane, extracted damage, and verified a simplified method for aligning the point cloud data and the reference plane. The manually created reference plane is aligned with the point cloud data of the bridge, and a difference analysis is performed. The point cloud data were analyzed by subtracting them from the reference plane, and the damage was extracted. The damage extracted from the point cloud data was quantitatively evaluated by differential analysis and compared with the actual size of the damage. In the primary screening of bridge inspections, damage is evaluated in 10 mm in the depth direction and in 50 mm in the width direction. It was verified that the results of the difference analysis satisfied this requirement. These results suggest that the required accuracy can be met, and that the damage extracted using point cloud data can be evaluated.