The invention belongs to the field of high-voltage transmission line operation inspection and particularly relates to a transmission line unmanned aerial vehicle automatic driving inspection method. The method comprises the steps that S1, according to the model, range, opening angle and communication distance of a laser radar, the area of a scanning region of the laser radar is calculated; S2, RTKlaser radar unmanned aerial vehicle base station positioning is performed through Qianxun precise positioning service; S3, a horizontal distance value maintained between a transmission line center and an unmanned aerial vehicle, a vertical distance theoretical value maintained between the unmanned aerial vehicle and a horizontal ground and a designed height value between the unmanned aerial vehicle and the horizontal ground are calculated; S4, unmanned aerial vehicle manual flight laser modeling is performed, and an automatic driving air route of the unmanned aerial vehicle is planned; and S5, according to a transmission line laser point cloud entity model obtained through laser radar modeling, an intelligent inspection automatic driving air route of the unmanned aerial vehicle is generated. Through the method, flight air route planning, automatic driving, refined inspection and laser radar data collection of the unmanned aerial vehicle in a strong electromagnetic field are realized,and transmission line modeling and inspection quality is greatly improved.