In order to quickly and accurately reconstruct the 3D shape of a complex scene, we propose a 3D shape measurement method based on speckle-embedded phase-shifting fringe patterns and wrapped phase-to-height lookup table (LUT). As an auxiliary signal, the speckle is embedded into the phase distribution of the four-step phase-shifting fringe patterns to obtain the composite fringe pattern to be projected. The phase-shifting algorithm is used to demodulate the wrapped phase and the additional speckle information. Multiple candidate heights corresponding to the wrapped phase are first obtained using the LUT, and then the height ambiguity is solved by marking the fringe period by the speckle. The correct height corresponding to the wrapped phase is uniquely determined, so as to realize the rapid reconstruction of the 3D shape of the measured object. This method directly reconstructs the 3D shape from the wrapped phase information without projecting any additional patterns and phase unwrapping. The theoretical analysis and experimental results demonstrate that the proposed method can achieve high-accuracy and robust 3D shape measurement of dynamic and static complex scenes.