An entire roadway system represents a crucial element in the sustainable urban transportation planning process. Pavement surfaces are at continual risk of accumulating serious deteriorations and defects throughout their service life due to traffic loading and environmental impact. Since roadway networks are growing rapidly, relying on visual pavement inspection is not always feasible. Therefore, this paper proposes an effective assessment method for evaluating flexible pavement surface distresses using a terrestrial laser scanner (TLS) and calculating the pavement condition index (PCI). The proposed terrestrial laser scanner method results in road condition assessments becoming faster, safer, and more systematic. It also aims to determine the geometric characteristics of the investigated roads. A major road in Egypt was selected to test the proposed technique and compare it with the traditional visual inspection method. The evaluation was carried out to assess different types of pavement distress, such as cracking, rutting, potholes, and raveling distresses. Every pavement distress was defined in terms of surface area, the width of the crack, and intensity, and the data from TLS were then processed by MAGNET COLLAGE software. A MATLAB program was developed to match the TLS observational data to plane equations. PAVER software was also used to determine the PCI values for each TLS position. The revealed distresses for the investigated road using TLS observations reveal a significant improvement in determining flexible pavement distresses and geometric characteristics.