Spinal deformity is a three-dimensional (3D) spinal disorder with a lateral deviation and coupled with axial vertebral rotation (AVR). The current clinical practice only measures its severity on postero-anterior (PA) radiographs, which may underestimate the deformity. The actual severity should be obtained on the plane of maximal curvature (PMC), which requires a 3D spinal image. There are many approaches to reconstruct 3D spinal images; however, ultrasound is one of the promising techniques with its non-ionizing characteristic. This study proposed an image processing method using the voxel-based bilinear interpolation to reconstruct a 3D spinal image from ultrasound data, from which the AVR was measured and the spinal curvature on the PMC was determined. In-vitro and in-vivo experiments were performed to determine the accuracy of the measurements from the ultrasound method. The results showed that the 3D ultrasound spinal image could be reconstructed. The curvature angle on the PA and the PMC planes could also be determined. The tilt angle of each individual vertebra in in-vitro study showed high accuracy and correlation (MAD <; 0.9° ± 0.2° and r² > 0.87) when comparing the measurements from CT with ultrasound. In in-vivo study, the curvature angles measured on the PA radiographs and ultrasound images yielded a small difference (MAD 3.4° ± 1.0°) and a strong correlation (r² = 0.63) within a clinical accepted error of 5°.