Regular crack detection is essential for extending the service life of bridges. However, the image data collected during bridge crack inspections are complex to convert into physical information and construct intuitive and comprehensive Three-Dimensional (3D) models incorporating crack information. An intelligent crack detection method for bridge surface damage based on Unmanned Aerial Vehicles (UAVs) is proposed for these challenges, incorporating a three-stage detection, quantification, and visualization process. This method enables automatic crack detection, quantification, and localization in a 3D model, generating a bridge model that includes crack details and distribution. The key contributions of this method are as follows: (1) The DCN-BiFPN-EMA-YOLO (DBE-YOLO) crack detection network is introduced, which improves the model’s ability to extract crack features from complex backgrounds and enhances its multi-scale detection capability for accurate detection; (2) a more comprehensive crack quantification method is proposed, integrating the crack automation detection system for accurate crack quantification and efficient processing; (3) crack information is mapped onto the 3D model by computing the camera pose for each image in the 3D model for intuitive crack visualization. Experimental results from tests on a concrete beam and an urban bridge demonstrate that the proposed method accurately identifies and quantifies crack images captured by UAVs. The DBE-YOLO network achieves an accuracy of 96.79% and an F1 score of 88.51%, improving accuracy by 3.19% and the F1 score by 3.8% compared to the original model. The quantification accuracy is within 10% of the error margin of traditional manual inspection. A 3D bridge model was also constructed and integrated with crack information.