The invention discloses an overhead high-voltage line intelligent autonomous flight tour inspection system and method along wires. The system comprises a ground control station, laser radar, a laser radar data processing module and a multi-rotor unmanned aerial vehicle, the laser radar and the laser radar data processing module are both arranged on the multi-rotor unmanned aerial vehicle, the laser radar is used for acquiring information of the angle and the distance of a high-voltage line relative to the multi-rotor unmanned aerial vehicle, the laser radar data processing module transmits theabove information to the ground control station in a wireless mode, a motor driving module of the multi-rotor unmanned aerial vehicle performs rotating speed control on propeller motors in the multi-rotor unmanned aerial vehicle under the control of an unmanned aerial vehicle control center, the unmanned aerial vehicle and the overhead high-voltage line maintain a fixed distance, and the unmannedaerial vehicle performs cruise flight along the overhead high-voltage line. According to the system and method, in the tour inspection process, personnel operation is avoided, and high-efficiency, multifunctional and omnibearing intelligent overhead high-voltage line monitoring tour inspection can be realized.