Off-line automatic programming system of laser remanufacturing robot based on 3D vision is developed in order to repair the complex parts accurately and efficiently. The system mainly consists of six functional modules: machine vision measurement, 3D modeling, remanufacturing planning, automatic programming, simulation and optimization, and communication module. It applies standard calibration plate to carry out calibration based on HALCON software, and uses gradient gravity method to extract laser stripe center precisely, and carries on feature matching fastly on the basis of limit geometric theory. Parts′ point cloud data is obtained according to the triangulation principle. Then reconstructing parts and extracting the 3D model of the repair area are done, remanufacturing path planning and robot control program generation are executed automatically in the light of the parameters of process planning. Linkage between multiple devices and timing control are implemented with robot master mode. Tests show that robot action is coherent, and repair pathway is consistent with the design by using this method, which can improve efficiency and accuracy of robot programming and meet parts′ repair requirements.