Objective This study was designed to investigate the indication and treatment time of non-surgical eruption of maxillary palatally impacted canines and its clinical effect. Methods Nine patients with 12 maxillary palatally impacted canines were enrolled based on skeletal maturity as well as the position and dental maturity of the impacted canine diagnosed using panoramic and scephalometric radiographs. All patients underwent orthodontic treatment with headgear, followed by extraction of the deciduous canines. In addition, panoramic radiographs of the patients were taken every six months to observe the eruption of the impacted canine. Results Seven palatally impacted canines erupted spontaneously, three palatally impacted canines received surgery eruption, and two canines were extracted. Conclusion The influencing factors for non-surgical eruption of maxillary palatally impacted canines included the absence of obstruction in the erupted path, early stages of skeletal maturity, and open root apices. Eventually, skeletal maturity is more instructive than dental maturity.