A novel method was proposed that can be used for determining intrinsic parameters of linear array cameras based on collinear calibration feature points. All calibration feature points were on the view plane of the linear array camera. Firstly, during the camera calibration the feature point was captured by the camera one by one, the corresponding image point and the spatial feature point were obtained directly, which solved the matching problem of the spatial feature point and image point. Secondly, a mathematical model was established to obtain the imaging model of the linear array camera, then use the simultaneous imaging models of multiple locations was used to calculate the camera intrinsic parameters; Finally, the impacts on the calibration result were analyzed and experimented. Result reveals that the proposed linear array camera calibration method is not only convenient and flexible, but also sophisticated calibration pattern is not required, and a lot of calibration points are obtained which improving the accuracy and stability of the line scan camera calibration. The root mean square error of re-projected points is less than 0.37 pixel.