This chapter presents a concept for performing urban mapping and modeling with the support of Unmanned Aerial Vehicle (UAV) equipped with the Light Detection and Ranging (LIDAR) system. This reason is the physical landscape of urban areas is relatively complex and ever-changing, making it quite hard to execute traditional map-making principles. The application of UAVs and LIDAR is a versatile approach that can provide elaborate spatial data of urban areas with precision. By using some of the latest UAV platforms and integrating them with LIDAR sensors, it is possible to obtain high-resolution point cloud data over urban environments. Such a UAV platform is sufficiently flexible in maneuvering through densely populated areas while capturing data from different angles. LIDAR sensor, because of the high level of accuracy in distance measurements with the capacity of capturing even the minute details, will create realistic representations of objects as well as having precise geometric data. We explain the method of system configuration, mission planning, data processing, data analysis, and the usability of the method with UAV-based LIDAR mobile surveying and mapping which are applied to the urban territories of the case area of Sultan Qaboos University. The results demonstrate capability of the UAV-based LIDAR for correct identification of the building structure, roads, and vegetation in an urban environment with the level of detail and accuracy. Taken together, our findings can be considered as the contribution to the development of UAV-based remote sensing in urban frameworks for the purpose of obtaining rich data for various applications in the field of urban mapping and modeling. The specific case on UAV-based LIDAR systems for urban planning and future trends and developments are also presented.