Numerous registration methods for airborne and terrestrial light detection and ranging (LiDAR) point cloud utilize geometry information of three-dimensional point cloud. Corresponding features of airborne and terrestrial LiDAR point cloud are matched, and point cloud coordinate transformation parameters are calculated to realize point cloud registration. A new registration method based on laser intensity classification is proposed. Firstly, the laser intensity of airborne and terrestrial LiDAR point cloud is corrected and classified. Then, the plane features are extracted by the classification results. The corresponding plane features are matched taking topological relationship and the classification results as constraint conditions. Finally, the coordinate transformation parameters are calculated to register the airborne and terrestrial LiDAR point cloud. The results show that compared with traditional methods, the proposed method can reduce registration errors from differences of the scanning angle and density between airborne and terrestrial LiDAR. The proposed method can still achieve accurate registration effect when the geometry shapes of the corresponding features of airborne and terrestrial LiDAR are not completely identical.