The TCP of robot is the fundation of off-line programming and end error correction. Studying fast and accurate calibration method is vital to ensure robots work normally in industrial field environments. In this paper, a TCP automatic calibration method was presented based on binocular vision measurement,combined with the spatial coordinate transformation theory and robot kinematics, which is applicable to industrial manufacturing site. This method has several advantages of non-contact, fast and high precision, which can reduce errors coming from previous calibrating method of contactless measurement and overcome its shortcoming of slowness. This method was testified on ABB robot and then experiment result shows that the accuracy is much better than that of conventional method when the calibration tool having a diameter of 10 mm. It can meet high precision, fast TCP calibration requirements in industrial site.