During the 2020–2021 summit eruption of Kīlauea volcano, Island of Hawaiʻi, staff at the U.S. Geological Survey Hawaiian Volcano Observatory (HVO) conducted 17 helicopter overflights of the eruption area between the dates of 21 December 2020 and 8 June 2021. Images captured during these flights were processed using the structure-from-motion (SfM) photogrammetry technique to produce digital elevation models (DEMs) and orthomosaics of a lava lake filling Halemaʻumaʻu crater. This data release contains the DEMs and orthomosaics processed to achieve the highest possible accuracy and spatial resolution. A pre-eruption DEM and orthomosaic produced using overflight images from 8 April 2019 and 29 May 2020, used for spatial reference, are also included. Vector shapefiles are included for each eruption overflight identifying the eruption vents, the perimeter of the eruption deposits (combined vent area and lava lake surface), islands on the lava lake surface, and the mobile surface of the lava lake (where incandescent, flowing lava was observed).