We used UAV-LiDAR technology and other advanced remote sensing techniques to evaluate mangrove rehabilitation projects along the eroding shoreline of the Upper Gulf of Thailand. Our results delineate the necessary biophysical conditions for successfully rehabilitating mangroves, establishing optimal conditions under which mangroves can naturally re-establish and thrive. Furthermore, we investigated the effectiveness of different coastal defense structures in fostering mangrove recolonization. Our analysis shows that nearshore breakwaters markedly outperform submerged breakwaters and bamboo fences, with a success rate of over 65% by significantly reducing wave energy that aids sediment trapping. These findings suggest that refinements in the configuration of coastal structures, including the elevation of breakwater crests and selective deployment of bamboo fences, will enhance mangrove rehabilitation success. These insights affirm the role of UAV-LiDAR surveys for optimizing mangrove restoration initiatives, thereby facilitating sustainable development for coastlines plagued by erosion. The insights gleaned offer a blueprint for bolstering the success rate of mangrove rehabilitation projects, directing them toward sustainable coastal development.