WordPress logo upload option in theme panel

if you use wordpress customizer then try this code

public static function register ( $wp_customize ) {
    // Logo upload
    $wp_customize->add_section( 'bia_logo_section' , array(
        'title'       => __( 'Site Logo', 'bia' ),
        'priority'    => 30,
        'description' => 'Upload a logo to replace the default site name and description in the header',
    ) );

    $wp_customize->add_setting( 'bia_logo', array(
        'sanitize_callback' => 'esc_url_raw',
    ) );

    $wp_customize->add_control( new WP_Customize_Image_Control( $wp_customize, 'bia_logo', array(
        'label'    => __( 'Site Logo', 'bia' ),
        'section'  => 'bia_logo_section',
        'settings' => 'bia_logo',
    ) ) );
}

i think you can also try redux framework for admin panel option