The impact of helium plasma exposure on the tungsten surface damage structure development and erosion has been investigated by comparing the impact of hydrogen plasma exposure. Crystal orientation dependence of the undulating surface structure formation and erosion rate is observed on the plasma-exposed tungsten surface independently from the plasma species. The top surface of the plasma exposed tungsten has a tendency to {100} plane independently from the initial surface orientation. Although hydrogen and/or helium cause no erosion in tungsten under incident ion energy exposure conditions below the sputtering threshold, inevitable minute impurities, like oxygen, play an essential role in erosion, and significant erosion can be observed even at 30 eV.