Unmanned aerial vehicle docking systems and methods are presented herein. A UAV can hover in a hovering position above a docking pad of the UAV docking system based on positioning measurements. An on-board camera can image a machine-readable code present on the docking pad. The hovering position of the UAV above the docking pad can be adjusted based on imaging of the machine-readable code and ranging measurements to the docking pad. A tether can be extended from the UAV towards the docking pad. The hovering position of the UAV and extension of the tether can be adjusted such that a mating device present on a distal end of the tether engages with a coupling device of the UAV docking pad. The tether can be reeled in to the UAV to assist in lowering the UAV from the hovering position to a landing position on the docking pad.