Copy Folder Structure from one server to other using Robocopy

C:\Windows\System32>Robocopy.exe "source" "destination" /e /xf *
Switch /e will copy empty directories and /xf * will exclude files.

To exclude certain files, such as txt files then you could do
C:\Windows\System32>Robocopy.exe "source" "destination" /e /xf *.txt