The centering error of infrared multi-lens is one of the important factors affecting the imaging quality of the optical system. When the infrared detector works in the cryogenic environment, the pre-assembled and tested infrared multi-lens at room temperature will cause misalignment of assembly accuracy. A method to measure the centering error of infrared multi-lens in the cryogenic environment is proposed. The difficulty of measuring the low temperature position accuracy of lens group is solved by the designed low temperature test system. The test results show that the method can effectively measure the centering error of infrared multi-lens at low temperature, and the measurement error is better than 2 m. This research has certain practical significance for the development of high-performance infrared detector components.