For fog-degraded images, a new method of restoring polarization image is proposed. Estimate the atmospheric light intensity and transmission rate function are estimated, and the transmission rate function is optimized to realize image defogging based on atmospheric scattering model for three random angle polarization images. Polarization image restoration quality of 3 random angles and 2 orthogonal angles are compared in this experiment. Experimental results show that the proposed algorithm improves the image′s definition and contrast, and effectively improves degraded images in the haze condition. The angles of 3 polarization images are arbitrary. It is not necessary to carry on the registration of the polarization angle, and beneficial for the practical application of the engineering.