Mixed-state quantum geometry plays a fundamental role in quantum metrology, multiparameter estimation, and the characterization of quantum many-body systems. Yet, unlike its pure-state counterpart, accessing mixed-state geometry requires solving an ill-conditioned Lyapunov equation for the symmetric logarithmic derivative (SLD), posing a major challenge for resource-efficient quantum computation. Here we address the challenge and develop a novel quantum algorithmic framework for efficiently accessing the quantum Fisher information matrix (QFIM) and quantum geometric tensor (QGT) of mixed states. Our key insight is to uncover a previously unexplored connection between the positive semidefinite structure of density matrices and exponentially convergent Gauss-Laguerre quadrature, enabling an efficient integral-based construction of the SLD. A rigorous complexity analysis further establishes the resource efficiency of our algorithm, demonstrating logarithmic precision dependence and double-logarithmic ancillary-qubit overhead at fixed conditioning. Building on this construction, we achieve near-Heisenberg precision scaling for diagonal QFI estimation without quantum phase estimation and construct unified block encodings of the full QFIM and QGT under a bounded spectral-gap assumption. A complementary regularized algorithm extends efficient diagonal estimation to exponentially small spectral gaps under a bounded-response condition. Our results establish a resource-efficient route to coherent mixed-state quantum geometry, enabling its direct integration into quantum linear-algebra algorithms without classical reconstruction and opening new possibilities for quantum-enhanced multiparameter metrology.