Aiming at the influence of refraction on underwater vision system and to achieve portability of the vision system, an underwater vision measurement system based on the constraint of light-plane is established in this paper. First, the underwater structured light measurement model based on the light-plane constraint is proposed. It is theoretically proved that when the projector is perpendicularly projected to the refraction plane and the light-plane passes through the projection optical axis, the light-plane in the air formed by the projection light on land and the projection optical axis is the same with the light-plane in water formed by the underwater refraction light and the normal vector of the refraction plane, which theoretically proves the feasibility of land calibration instead of underwater calibration, avoiding the underwater calibration process of the light-plane. Then, the center rotation light mode is designed based on the light-plane constraint, and the light pattern is decoded through the light-plane rotation angle. Finally, the optimized land calibration method is proposed based on the light-plane constraints. Experiments show that the proposed underwater structured light system can achieve a measurement accuracy of 1.72 mm at a measurement distance of less than 2 m. The system can compensate the lack of short distance, high accuracy, and high resolution in the current underwater acoustic three-dimensional topography measurement. Furthermore, the proposed system can effectively avoid underwater calibration operation, improve the portability of underwater vision system, and expand the application of vision measurement system in underwater engineering detection, underwater three-dimensional topography measurement, and underwater structural defect detection.