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The detection and mapping of riverscapes with Unmanned Aerial Vehicles (UAVs, drones) provide detailed, reliable, and operable spatial information in hydrological sciences, enhancing conventional field survey techniques. In this study, we present the results of long-term, optical RGB (red, green, blue) UAV monitoring of stream restoration projects to identify the positive and negative features that affect their sustainability. We determined quantitative and qualitative aspects of restoration, such as the restoration effect, the dynamics of fluvial processes, hydrological connectivity, and riparian vegetation. The study was based on six years of UAV monitoring in three restored streams in Prague, Czech Republic. The multitemporal riverscape models from the photogrammetric reconstruction served as a basis for the visual assessment, compliant with the standard hydromorphological assessment. Such a combined approach extends the potential of UAV monitoring by allowing for the use of existing classification schemes and data and the objective detection of critical features. The study pointed to the significant discrepancies in channel geometry between the planned restorations and realized restorations in all assessed projects as a general phenomenon. Multitemporal, optical RGB UAV monitoring then detected issues in qualitative aspects that limit restoration quality, such as water overuse, extensive eutrophication, or inefficient riparian shading.