In this work, a LiDAR point cloud data processing system for power line extraction based on an FPGA is proposed. The raw points are classified into foreground points including power line and power towers, and background points including the ground, vegetation and other points. The raw point data are grid grouping locally. And the feature extraction algorithm is applied in every grid in parallel. The precision, recall and F1-score are 99.46%, 87.55%. 93.13%, respectively. The presented system achieves a processing speed with 37.49K points per second. The whole system is integrated in a Xilinx Ultra 96 single computer board with FPGA for accelerating.