Photogrammetry is the technology for obtaining 3D geometric information from photographs or images. This chapter describes the fundamental knowledge and latest advances in photogrammetry for 3D mapping in urban areas. First, the key fundamental techniques in photogrammetry for deriving 3D information from imagery are presented. Then, the latest advances in photogrammetry for 3D mapping in urban areas, including structure-from-motion (SfM), multi-view stereo (MVS), and integrated 3D mapping from multiple-source data, are described and discussed. Examples of using photogrammetry for 3D mapping and modeling in urban applications are presented. Finally, concluding remarks and future outlooks are addressed.