Manual measurement of rock discontinuities is time-consuming and subjective according to the experience of the surveyor. This work proposes a three-dimensional laser scanning-based method for the semi-automatic identification of rock discontinuities. Multisite cloud scanning is performed with real-time kinematic (RTK)-assisted orientation to estimate the rock fracturing degree; then, discontinuity orientations are extracted with the man–machine interactive method or automatic method. The proposed method was applied to actual examples to illustrate its accuracy at identifying rock discontinuities. The sensitivity of the identification accuracy to different parameters was investigated.