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The identification of flood hazards during emerging public safety crises such as hurricanes or flash floods is an invaluable tool for first responders and managers yet remains out of reach in any comprehensive sense when using traditional remote-sensing methods, due to cloud cover and other data-sourcing restrictions. While many remote-sensing techniques exist for floodwater identification and extraction, few studies demonstrate an up-to-day understanding with better techniques in isolating the spectral properties of floodwaters from collected data, which vary for each event. This study introduces a novel method for delineating near-real-time inundation flood extent and depth mapping for storm events, using an inexpensive unmanned aerial vehicle (UAV)-based multispectral remote-sensing platform, which was designed to be applicable for urban environments, under a wide range of atmospheric conditions. The methodology is demonstrated using an actual flooding-event—Hurricane Zeta during the 2020 Atlantic hurricane season. Referred to as the UAV and Floodwater Inundation and Depth Mapper (FIDM), the methodology consists of three major components, including aerial data collection, processing, and flood inundation (water surface extent) and depth mapping. The model results for inundation and depth were compared to a validation dataset and ground-truthing data, respectively. The results suggest that UAV-FIDM is able to predict inundation with a total error (sum of omission and commission errors) of 15.8% and produce flooding depth estimates that are accurate enough to be actionable to determine road closures for a real event.