In this study, an unmanned aerial vehicle (UAV) with a camera and laser ranging module was developed to inspect bridge cracks. Four laser ranging units were installed adjacent to the camera to measure the distance from the camera to the object to calculate the object’s projection plane and overcome the limitation of vertical photography. The image processing method was adopted to extract crack information and calculate crack sizes. The developed UAV was used in outdoor bridge crack inspection tests; for images taken at a distance of 2.5 m, we measured the crack length, and the error between the result and the real length was less than 0.8%. The developed UAV has a dual-lens design, where one lens is used for bridge inspections and the other lens is used for flight control. The camera of the developed UAV can be rotated from the horizontal level to the zenith according to user requirements; thus, this UAV achieves high safety and efficiency in bridge inspections.