The establishment of Cadastral Reference Marks (CRM) is essential for precise horizontal and vertical surveys, which are foundational for future smart city infrastructure. In Malaysia, land surveyors face challenges with the reliability of existing control points due to their shifts over time. Launching Global Navigation Satellite System (GNSS) survey-grade technologies provided a more effective and efficient approach for establishing the CRM on the spot in the field. This study aims to derive the feasibility of establishing CRM using the rapid-static GNSS observation approach in survey practices. Subsequently, the horizontal and vertical values are scrutinised in strict adherence to the prevailing regulations set forth by the Department of Survey and Mapping Malaysia (DSMM). This process involves integrating the vertical value into the CRM system and seamlessly consolidating the planimetric and vertical components. The horizontal CRM is derived from Northing and Easting to bearing and distance. Simultaneously, the Orthometric height is determined using both the Absolute height based on the Fitted Geoid and the relative height based on Gravimetric Geoid approaches. The derived CRM from rapid static GNSS observation and conventional survey methods are then compared. The findings indicate that the GNSS observations data are dependable, demonstrating a Root Mean Square (RMS) ranging from 0.7 to 2.1 cm, considered valid and sufficient. Furthermore, when comparing the GNSS observation data with conventional surveys, the accuracy of all CRMs falls within the range of 0.0–2.7 cm horizontal component and 0.5–9.4 cm vertical component. For the traverse exceeding the allowable limit specified by DSMM regulation, the error propagation gradually emerges over a distance with a magnitude up to 3.1 cm when surpassing all limits. In conclusion, rapid static GNSS observation yielded acceptable accuracy and can be confidently chosen for surveying and mapping purposes.