In recent years, technology has emerged as an area of vital importance and growing relevance in the field of heritage conservation. The junction of modern construction technologies and geomatics is particularly noteworthy for tackling the challenges inherent to the digital era, offering an innovative framework that streamlines historical heritage preservation requirements. This paper aims to advance towards the comprehensive exploiting of 3D point clouds for the diagnosis of historical buildings, imbuing them with a constructive sense that hence maximizes their potential. More specifically, this publication proposes an innovative methodological approach that resorts on the use of several advanced 3D point cloud processing strategies. Among the different methods employed, it is possible to highlight a multi-Level and multi-Resolution Random Forest classifier that allows to semantically segment the 3D point cloud, thus giving it constructive meaning. Complementary to this, the use of geometric damage-based methods for damage analysis is proposed, including a self-developed algorithm that enables the evaluation of deflection in timber floors. The Guimaraes Castle Keep Tower will serve as a case study. Being one of Portugal’s most significant landmarks, this tenth century fortress has been recognized as a UNESCO World Heritage Site since 2001. Thanks to the proposed methodology, it is not only possible to detect damaged areas but also to significantly enhance the overall understanding of their current condition., thereby supporting the decision-making process for restoration efforts.