The attitude angle parameter of the unmanned aerial vehicle (UAV) is crucial for determining its flight performance. In the standard measurement method, the various sensors of the UAV device generated considerable data errors due to the influence of the UAV. As the existing visual measurement methods are affected by light and have limited recognition accuracy of marking spots, a method for UAV attitude angle measurement based on laser projection and vision is proposed. The three-dimensional position of the marker point in the world coordinate system is determined via the total station data, and the laser transmitter mounted on UAV emits lasers toward the front, left, and right sides of the screen, while the camera captures and calculates the displacement of the laser point on the screen in real time. Through the geometric relationship between the laser and marking points and the Rodrigues rotation formula, the attitude angle of the UAV is determined. The experimental results indicate that the calculation error of the attitude angle of the proposed method is below 0.3°, which meets the accuracy criteria for the UAV attitude angle measurement.