The maxillary incisive canals were observed in childhood from infancy to school-aged children to clarify their development. Cone-beam computed tomography was performed to investigate 44 dry child skulls. Two-dimensional images of various planes in the maxillary incisive canal were reconstructed on a computer using 3-dimensional visualization and measurement software. Then, antero-posterior angulation, and antero-posterior and lateral axes of the maxillary incisive canal were measured at the inferior and middle levels. The mean difference of angulation between the inferior and middle levels was 2.3 degrees in IIC, and 11.1 degrees in IIIC. The mean ratio of the lateral axis to antero-posterior axis at the middle level was 2.54 in IIC, and 1.93 in IIIC. In conclusion, it was antero-posteriorly straight from IA to IIC, and, after IIIA, it curved at the middle level. The cross-sectional shape in IIC was depressed with a larger lateral axis.