Boron-doped diamond (BDD) electrodes have been widely used in water treatment, e.g., degradation of antibiotics and pigments for water purification. Hydrogen peroxide production by two-electron electrochemical oxidation of water is a green and attractive method that has the potential to replace the conventional anthraquinone autoxidation (AO) process. In this study, BDD films were prepared on single-crystal silicon wafers by using hot-filament chemical vapor deposition (HFCVD) technique. Then, dense tubular nanostructure (nanotubes) arrays were prepared on the BDD films employing inductively coupled plasma (ICP) etching. Energy dispersive X-ray spectroscopy (EDS) and X-ray photoelectron spectroscopy (XPS) proved the formation of oxygen-terminated nanostructures, which was ascribed to the oxygen plasma and the self-masking. The length of diamond nanotubes as well as the root diameter increased gradually and non-linearly with the increase of etching time. It was indicated by cyclic voltammetry (CV) analysis that the effective active area of the electrodes increased after etching, and variations of resulting reaction performance were observed. The oxygen-terminated and nanostructured BDD electrode obtained by etching with the optimized parameters features better electrocatalytic performance, with reduced oxidation potential and 46.8 % higher Faraday Efficiency (FE) for hydrogen peroxide production, compared to the original BDD sample. Therefore, the manufacturing of nanostructures is an effective method to improve the efficiency of BDD water oxidation for the production of hydrogen peroxide.