Unmanned Aerial Vehicles (UAVs) are increasingly utilized for air quality monitoring due to their ability to access challenging environments and provide three-dimensional pollution profiles. This study explores UAV-based measurements of particulate matter (PM), CO2, volatile organic compounds (VOCs), and other pollutants across diverse terrains in the southeastern part of Prague, including fields, highways, and forests. A novel sensor shielding design was implemented to mitigate rotor-induced airflow interference, ensuring measurement accuracy. Data acquisition involved multiple altitude profiles and vertical sampling near pollution sources, with meteorological conditions factored into the analysis. Results revealed pollutant distributions influenced by terrain and wind direction, such as elevated PM concentrations near highways and forests. The study confirms the effectiveness of UAVs for dynamic airborne sampling while addressing challenges like rotor effects and spatial data processing. These findings highlight UAVs’ potential for environmental monitoring and underscore their role in advancing air quality research.