Urban thermal environment is directly linked to the health and comfort of local residents, as well as energy consumption. Drone-based thermal infrared image acquirement provides an efficient and flexible way of assessing urban heat distribution, thereby supporting climate-resilient and sustainable urban development. Here, we present an advanced approach that utilizes the thermal infrared camera mounted on the drone for high-resolution building wall temperature measurement and achieves centimeter accuracy. According to the binocular vision theory, the three-dimensional (3D) reconstruction of thermal infrared images is first conducted, and then the two-dimensional building wall temperature is extracted. Real-world validation shows that our approach can measure the wall temperature within a 5 °C error, which confirms the reliability of this approach. The field measurement of Yuquanting in Xiong’an New Area China during three time periods, i.e., morning (7:00–8:00), noon (13:00–14:00) and evening (18:00–19:00), was used as a case study to demonstrate our approach. The results show that during the heating season, the building wall temperature was the highest at noon time and the lowest in evening time, which were mostly caused by solar radiation. The highest wall temperature at noon time was 55 °C, which was under direct sun radiation. The maximum wall temperature differences were 39 °C, 55 °C, and 20 °C during morning, noon and evening time, respectively. The lighter wall coating color tended to have a lower temperature than the darker wall coating color. Beyond this application, this approach has potential in future autonomous thermal environment measuring systems as a foundational element.