Conventional denoising methods cannot deal with much noise in depth images, which are acquired by time-of-flight or structured light depth sensors. So, a laminar denoising algorithm is proposed in this paper, which evaluates the noise level of the image, and depth image laminas are acquired with established depth laminar level according to noise level. Then, noises and holes are removed in every lamina. At last, all laminar images are combined into a whole depth image. Experimental results demonstrate that the proposed algorithm can not only remove the uncertain interferential noise, but also maintain the original detail and edges of objects in the depth images.