3D laser scan data of Jenolan Caves, NSW, Australia. Data were acquired using three 3D mobile mapping systems developed at CSIRO. The vast majority of the data was collected using the Zebedee 3D Mapping System, a handheld lidar system that generates maps from measurement collected as an operator holding the device traverses through the site. Other data were acquired from the bentwing 3D Aerial Mapping System, which has similar sensors to Zebedee mounted on a quadrotor MAV platform. The primary representations provided are detailed 3D point cloud maps of the caves and the surface above them (approximately 2.3 billion points), as well as the trajectory estimate of the laser scanner as it was carried through the environment (approximately 28.4km over 22 hours of data collection).