A new method for measuring dynamic attitude of missile is proposed by adopting the binocular vision measurement system,in which two CCDs are used and their optic axes are parallel.Firstly,the centroid of missile is obtained by the weighted average method.Secondly,the axis vector of the measured missile is fitted by the 3-D coordinate of missile’s surface which is obtained with image matching method.Because the axis of missile is a straight line which gets through the centroid of missile,the interval between the measured missile’s surface points and its axes is equal.Lastly,the attitude of measured missile is obtained by the mathematics relationship between the axis vector and the attitude.The simulation experiment shows that the measurement method has higher precision,and can meet the measurement requirements on the dynamic parameter of moving object in long distance.