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A quick Google search turned up: Spar Point Group has a nice writeup on several web-based point cloud viewers at http://www.sparpointgroup.com/blogPost.aspx?id=3879 This viewer is just too cool: http://lidarview.com/ PointCloud looks promising, and supposedly is free: http://pointcloud.io/
You could look at Cesium. A local city GIS office showed a demo of an LiDAR point cloud using Cesium at a recent conference. I don't recall if you could measure in it, but you could at least zoom, pan and rotate around.
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