Dual-frequency fringe projection methods have been widely used in three-dimensional (3D) shape measurement, but the phase unwrapping is very sensitive to random noises. A modified dual-frequency geometric constraint fringe was presented. The robustness of phase unwrapping can be effectively enhanced by improving the frequency of low-frequency phase. During the 3D shape measurement, firstly, the five-step phase-shifting algorithm was used to extract two wrapped phases. Secondly, the low-frequency phase was unwrapped based on the geometric constraint method. Finally, the dual-frequency algorithm was used to unwrap the high-frequency phase, and then the 3D shape could be reconstructed. Both simulations and experiments demonstrate that the modified dual-frequency fringe is more robust and applicable than the traditional one.