The digitization of historical heritage has several advantages, such as the possibility of documenting and storing detailed information about the heritage in a digital format, allowing for better management of heritage assets. In addition, digitization can allow for the creation of accurate digital replicas of heritage assets that can be accessed by people around the world, thus promoting the dissemination and sharing of culture. The use of terrestrial laser scanning, or laser scanning, enables the digitization of these assets and the production of point clouds that can assist in various preservation and conservation activities of buildings. The objective of this work was to digitize the Nossa Senhora do Rosário Church, a federal historical heritage, using terrestrial laser scanning technology. A comparison between a 3D model generated from the point cloud and a 2D survey from 2010 showed differences in the values of room areas and wall thicknesses recorded in the models. Finally, it was observed that there is great potential to integrate laser scanning technologies with manual procedures in historic buildings. These scanning techniques and experimental tests have the power to provide much more precise and realistic geometric information.