Pleistocene outburst floods from the drainage of glacial Lake Missoula carved bedrock canyons into the Columbia Plateau in eastern Washington, USA, forming the Channeled Scabland. However, rates of bedrock incision by outburst floods are largely unconstrained, which hinders the ability to link flood hydrology with landscape evolution in the Channeled Scabland and other flood-carved landscapes. We used long profiles of hanging tributaries to reconstruct the pre-flood topography of the two largest Channeled Scabland canyons, upper Grand Coulee and Moses Coulee, and a smaller flood-eroded channel, Wilson Creek. The topographic reconstruction indicates floods eroded 67.8 km3, 14.5 km3, and 1.6 km3 of rock from upper Grand Coulee, Moses Coulee, and Wilson Creek, respectively, which corresponds to an average incision depth of 169 m, 56 m, and 10 m in each flood route. We simulated flood discharge over the reconstructed, pre-flood topography and found that high-water evidence was emplaced in each of these channels by flow discharges of 3.1 × 106 m3 s−1, 0.65−0.9 × 106 m3 s−1, and 0.65−0.9 × 106 m3 s−1, respectively. These discharges are a fraction of those predicted under the assumption that post-flood topography was filled to high-water marks for Grand and Moses Coulees. However, both methods yield similar results for Wilson Creek, where there was less erosion. Sediment transport rates based on these discharges imply that the largest canyons could have formed in only about six or fewer floods, based on the time required to transport the eroded rock from each canyon, with associated rates of knickpoint propagation on the order of several km per day. Overall, our results indicate that a small number of outburst floods, with discharges much lower than commonly assumed, can cause extensive erosion and canyon formation in fractured bedrock.