High-dimensional (HD) entanglement enables an encoding of more bits than in the two-dimensional case and promises to increase communication capacity over quantum channels and to improve robustness to noise. In practice, however, one of the central challenges is to devise efficient methods to quantify the HD entanglement explicitly. Full quantum state tomography is a standard technology to obtain all the information about the quantum state, but it becomes impractical because the required measurements increase exponentially with the dimension in HD systems. Hence, it is highly anticipated that a new method will be found for characterizing the HD entanglement with as few measurements as possible and without introducing unwarranted assumptions. Here, we present and demonstrate a scan-free tomography method independent of dimension, which only requires two measurements for the characterization of two-photon HD orbital angular momentum (OAM) entanglement. Taking Laguerre-Gaussian modes of photons as an example, the density matrices of OAM entangled states are experimentally reconstructed with very high fidelity. Our method is also generalized to the mixed HD OAM entanglement. Our results provide realistic approaches for quantifying more complex OAM entanglement in many scientific and engineering fields such as multiphoton HD quantum systems and quantum process tomography.