The invention relates to an integrated bridge detection method based on an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle bridge detection. The method includesthe following steps: step I. acquiring detected bridge body and surrounding terrain environment data by an unmanned aerial vehicle A, and returning the data to a ground comprehensive information processing control system; step II. generating, by a 3D coordinate modeling system, a 3D coordinate model of the bridge body and the surrounding terrain environment; step III. establishing, by an unmannedaerial vehicle cruise path planning system, an autonomous cruise path of an unmanned aerial vehicle B, and sending the autonomous cruise path to the unmanned aerial vehicle B; step IV. executing, by the unmanned aerial vehicle B, autonomous cruise path to acquire and return the image of the bridge body; step V. detecting a bridge surface defect and identifying, by a marking system, the defect partof the bridge surface, calculating the defect degree of the defect part, and marking the defect part; step VI. automatically generating, by a bridge quality detection report generation system, a bridge quality detection report. The full automation of the bridge detection process is realized, the detection efficiency is greatly improved, and the detection quality is improved.