With the maturity of three-dimensional (3D) measurement technology, a non-contact 3D palmprint acquisition system provides a new way for palmprint recognition. In order to improve the accuracy of 3D palmprint information acquisition, a non-contact portable 3D palmprint acquisition system based on binocular stereo vision and structured light is proposed. Firstly, the coding pattern is projected onto the surface of the palm of the target, and the binocular camera is used to obtain the left and right views. The Gray code-phase shift method is used to obtain the absolute phase information of the target. Then the Boyle Moore voting algorithm is introduced for maximum probability correction to reduce the jump noise in the disparity map. After sub-pixel stereo matching and stereo calibration of the binocular camera, the 3D palmprint information is obtained. Finally, experiments are carried out on a set of self-built portable 3D palmprint acquisition systems. The experimental results show that compared with the traditional 3D palmprint acquisition system based on binocular stereo vision, this method can improve the palmprint acquisition accuracy and obtain better 3D palmprint reconstruction effect.