The impact of infectious diseases on host populations is often not quantified because it is difficult to observe the host population and infectious disease dynamics. To address this problem, we developed a state-space model to simultaneously estimate host population and disease dynamics using wildlife rescue data. Using this model, we aimed to quantify the impact of sarcoptic mange on a Japanese raccoon dog population by estimating the change in their relative population size. We classified the status of rescued raccoon dogs into four categories: i) rescued due to infection with mange, ii) rescued due to traffic accidents without mange, iii) rescued due to traffic accidents with mange, and iv) rescued due to causes other than traffic accidents or mange. We modelled the observation process for each category and fitted the model to the reported number of raccoon dogs rescued between 1990 and 2010 at three wildlife rescue facilities in Kanagawa Prefecture, Japan. The mortality rate induced by mange was estimated to be 1.09 (95% credible interval (CI): 0.47–1.72) per year. The estimated prevalence of sarcoptic mange ranged between 4–80% in the study period. When a substantial prevalence of mange was observed (1995 to 2002), the host population size decreased by 91.2% (95% credible intervals: 86.3–94.7). We show that the impact of infectious disease outbreak on the wildlife population can be estimated from the time-series data of wildlife rescue events due to multiple causes. Our estimates suggest that sarcoptic mange triggered a substantial decrease in the Japanese wild raccoon dog populations.