VR technologies are playing an increasingly important role in the visualisation of hard-to-reach places, such as underground environments, which is important for the documentation and protection of cultural heritage. The digitisation of such objects allows the creation of a faithful digital twin and its dissemination in the form of immersive experiences. In this study, a comprehensive workflow for the creation of 3D virtual models was developed and illustrated using the part of Podgórze uranium mine as an example. The process included data acquisition, point cloud processing, 3D modeling, optimisation, and integration and integration into a game engine for VR applications. The results show that the obtained models achieved high accuracy, the cloud-to-mesh (C2M) mean errors within ± 14 mm and standard deviations up to 58 mm relative to the input data. Despite the lack of original textures, realistic approximations have been used to enhance authenticity. Interactive elements further enhance the user experience. The results support the preservation of historical sites and its popularisation in educational and tourist applications. The proposed workflow is highly adaptable, making it applicable to other historical and industrial sites.