A camera calibration method based on multi-condition constraints of laser point cloud is proposed to overcome the dependence of camera calibration on the 2D/3D calibration field. The initial camera parameters are obtained by bundle adjustment from the multi-view image obtained by the camera. Then， based on the collinear equation， the mathematical model of the multi-condition constraints camera calibration is established by using the position relationship between the image point cloud and its nearest laser point cloud. Furthermore， the least square method with inequality constrains is used to calculate the camera parameters iteratively. The camera calibration accuracy of the method is compared with that of the 3D control field. The experiment results show that it is equivalent to the calibration accuracy based on the 3D control field. The average error difference between the two laser point cloud reflection is less than 0.1 pixel， which further verifies the feasibility of the method without traditional control field.