Visibility is a common measure to describe the spatial properties of an environment related to the spatial behaviour. Isovists represent the space that can be seen from one observation point, and they are used to analyse the existence of obstacles affecting or blocking intervisibility in an area. Although point clouds depict the as-built reality in a very detailed and accurate way, literature addressing the analysis of visibility in 3D, and more specifically the usage of point clouds to visibility analysis, is rather limited. In this paper, a methodology to evaluate visibility from point clouds in indoor environments is proposed, resulting in the creation of 3D isovists. Point cloud is firstly discretized in a voxel-based structure and voxels are labelled into ‘exterior’, ‘occupied’, ‘visible’ and ‘occluded’ based on an occupancy followed by a visibility analysis performed from a ray-tracing algorithm. 3D Isovists are created from the boundary of visible voxels from an observer position and considering as input parameters the visual angle, maximum line of sight, and eye gaze direction.