Brunei Bay, which receives freshwater discharge from four major rivers, namely Limbang, Sundar, Weston and Menumbok, hosts a luxuriant mangrove cover in East Malaysia. However, this relatively undisturbed mangrove forest has been less scientifically explored, especially in terms of vegetation structure, ecosystem services and functioning, and land-use/cover changes. In the present study, mangrove areal extent together with species composition and distribution at the four notified estuaries was evaluated through remote sensing (Advanced Land Observation Satellite-ALOS) and ground-truth (Point-Centred Quarter Method-PCQM) observations. As of 2010, the total mangrove cover was found to be ca. 35,183.74 ha, of which Weston and Menumbok occupied more than two-folds (58%), followed by Sundar (27%) and Limbang (15%). The medium resolution ALOS data were efficient for mapping dominant mangrove species such asNypa fruticans,Rhizophora apiculata,Sonneratia caseolaris,S. albaandXylocarpus granatumin the vicinity (accuracy: 80%). The PCQM estimates found a higher basal area at Limbang and Menumbok-suggestive of more mature vegetation, compared to Sundar and Weston. Mangrove stand structural complexity (derived from the complexity index) was also high in the order of Limbang > Menumbok > Sundar > Weston and supporting the perspective of less/undisturbed vegetation at two former locations. Both remote sensing and ground-truth observations have complementarily represented the distribution ofSonneratiaspp. as pioneer vegetation at shallow river mouths,N. fruticansin the areas of strong freshwater discharge,R. apiculatain the areas of strong neritic incursion andX. granatumat interior/elevated grounds. The results from this study would be able to serve as strong baseline data for future mangrove investigations at Brunei Bay, including for monitoring and management purposes locally at present.