This disclosure relates generally to drones, and more particularly to method and system for performing inspection and maintenance tasks of three-dimensional structures (3D) using drones. In one embodiment, a method for performing a task with respect to a 3D structure is disclosed. The method includes receiving a simulated 3D view of the 3D structure. The simulated 3D view comprises a hierarchy of augmented views to different degrees. The method further includes configuring one or more paths for performing a task on the 3D structure based on the hierarchy of augmented views, historical data on substantially similar tasks, and a capability of the at least one drone. The method further includes learning maneuverability and operations with respect to the one or more paths and the task based on the historical data on substantially similar tasks, and effecting performance of the task based on the learning through the at least one drone.