Light-sheet fluorescence microscopy (LSFM) has been widely used to image the three-dimensional (3D) structures and functions of various millimeter-size bio-specimen such as zebrafish. However, the sample adsorption and scattering cause shading of the light-sheet illumination, preventing the even 3D image of thick samples. Herein, we report a continuous-rotational light-sheet microscope (CR-LSM) that enables simultaneous 3D bright-field and fluorescence imaging. With a high-accuracy rotational stage, CR-LSM records the outline projections and the fluorescent images of the sample at multiple rotation angles. Then, 3D morphology and fluorescent structure were reconstructed with a developed algorithm. Using CR-LSM, zebrafish’s whole-fish contour and blood vessel structures were obtained simultaneously.