Abstract: The coal mine headframe, a crucial component of the coal mine lifting system, is pivotal in ensuring the safe and efficient operation of the coal mine. However, during prolonged operation, various detrimental factors, such as overloading, abrupt stops and foundation deformation, can induce uneven settlement of the headframe foundation, thereby causing the headframe to tilt. This tilting poses a latent hazard to the safe production within the coal mine. Consequently, the safe and precise monitoring of the headframe’s tilt is essential for its safe operation. Currently, existing methods for monitoring the headframe typically require personnel to ascend the structure for equipment installation, which inherently poses a high risk. Furthermore, due to the limited number of monitoring points, it is not possible to gain a comprehensive understanding of the overall deformation of the headframe. To address this, this paper proposes a method for monitoring the tilt deformation of the headframe based on changes in the relative spatial relationship between three-dimensional laser scanning data from a single station and a standard plane. This method initially segments the headframe into various planes based on its spatial geometric features. It then matches the corresponding planes of the headframe across different periods and coordinate systems. Finally, it assesses whether the headframe has tilted by observing the angular changes between each plane and the standard plane at various times, and evaluates the accuracy of the tilt deformation monitoring. The research findings indicate that utilizing three-dimensional laser scanning data from a single station for monitoring headframe tilt deformation can achieve an accuracy of 0.2 mm/m. This method not only reduces labor intensity, accelerates monitoring speed, and enhances safety, but also provides comprehensive information on the deformation of the headframe. The monitoring accuracy fully meets the requirements of the derrick tilt monitoring specifications, offering a new and effective approach to monitoring headframe deformation.