ing at the problems remaining in existing extraction method of structure line segment such as low efficiency and reliability, an efficient extraction method for structure line segments from point clouds through voxel-based region growing is proposed. Firstly, point cloud is voxelized and segmented, and the distributing regions of structure line segments are recognized through voxel-based nearest neighbors searching. Then, the distributing regions of structure line segments are segmented through voxel-based region growing. Finally, corresponding line segments are extracted and optimized in these segmented regions according to the equations of their supporting planes, and the accuracy of the results are assessed. The test experiments are performed, and the feasibility, accuracy and efficiency of the proposed method are verified by obtaining the processing and comparison results of adopted point clouds. The experimental results indicate that the efficiency is increased more than 10 times and the accuracy is improved about 0.25 times, which verifies that the proposed method has high accuracy and efficiency as well as the ability of achieving relatively more ideal results.