Asset management of bridge infrastructure will become increasingly important in the coming years, especially since 16% of bridges in Canada will reach their expected life span of 50 years by 2030. There is a need to improve on the current subjective visual inspections of bridges and implement inspection solutions that are more efficient and objective. Non-contact testing (NCT) technologies, such as terrestrial laser scanning (TLS), can improve inspective efficiency and objectivity due to their high measurement accuracy, measurement speed, and interoperability with other technologies. Therefore, the primary goal of this manuscript is to examine how scan parameters affect the accuracy of point clouds and to offer recommendations for improving the accuracy of scanning spalling on cylindrical concrete bridge piers. These guidelines will be able to improve the efficiency and cost-effectiveness of visual inspections. They could act as a catalyst for the increased adoption of TLS as a visual inspection tool.