 This paper proposes a novel voxel-based marked neighborhood searching via menace method to detect and measure street trees from mobile laser scanning, MLS, point cloud data. The method consists of six steps, voxelization, calculation of values of voxels, searching and marking neighborhoods, extraction of potential trees, derivation of morphological parameters, and elimination of pole-like objects other than trees. The method was tested on two case studies and the results showed that the completeness and accuracy of the method were over 98%, with the extracted morphological parameters being in good agreement with field measurements. This article was authored by Hongxing Liu, Jianping Wu, Yan Huan, and others.