The invention relates to a milling-planing measurement method for pavement maintenance. The method comprises: after a pavement maintenance construction design drawing is completed, densely arranging lead wire control points and benchmarks in a route direction; arranging points at cover plates and telescopic gaps in the center and on front and rear sides of a structure; performing coordinate calculation through a horizontal curve element of a route; arranging points in a certain distance in a normal direction of left and right sides of a central line of the route; measuring points in a symmetric direction of the left and right sides according to a cross angle position after the structure is completed; and finally, determining control points and elevations of a bridge surface and a connection of the bridge surface and a road tunnel. According to the method, by applying a principle that the position of a bridge and culvert structure is relatively stable, and in combination with the horizontal curve element, a vertical curve and the like determined by original project final acceptance and technical requirements of pavement maintenance, the accuracy of project maintenance measurement is effectively improved, and the milling-planing measurement is ensured to be unified with pavement maintenance repair. The method is high in adaptability, reasonable in linear position and elevation processing, and relatively low in processing cost.