In contemporary contexts, photogrammetric surveys employing Unmanned Aerial Vehicles (UAVs) serve as invaluable tools for addressing multifaceted challenges associated with the inspection, surveillance, mapping, and 3D modelling of historic masonry structures. Particularly in scenarios requiring precise structural damage mapping and assessment, the attainment of accurate and reliable geometric models assumes paramount significance. Consequently, meticulous attention to the design of the flight plan, georeferencing procedures, and data processing protocols is imperative. Within the framework of this study, a systematic procedure for conducting photogrammetric surveys utilizing UAVs is applied to a UNESCO recognised heritage minaret structure named Chand Minar, located in the Aurangabad, India. This procedure is specifically tailored to facilitate effective visual inspections and the generation of a comprehensive 3D model. The resulting photogrammetric survey yields a detailed representation of the actual geometry of the structure, capturing intricate details including volumetric discrepancies.