Urban vegetations have infinite proven benefits for urban inhabitants including providing shade, improving air quality, and enhancing the look and feel of communities. But creating a complete inventory is a time consuming and resource intensive process. The extraction of urban vegetation is a challenging task, especially to monitor the urban tree heights. In this study we present an efficient extraction method for mapping and monitoring urban tree heights using fused hyperspectral image and LiDAR data. Endmember distribution mapping using the spectral angle mapper technique is employed in this study. High convenience results achieved using fused hyperspectral and LiDAR data from this semiautomatics technique. This method could enable urban community organizations or local governments to map and monitor urban’s tree height and its spatial distribution.