Herein, to address the problems of low efficiency and accuracy, long time consumption, and high labor intensity of the contacting measurement on static clearance of high-speed locomotive train, a new two-dimensional scanning sensor of static clearance of high-speed train is developed based on the rotating clustered-ray measurement principle. Static clearance can be efficiently and automatically measured by installing the proposed sensor on a moving guide rail. The sensor is calibrated using a high-precision marble plane, and a coordinate system for the measurement system is established. Sensor measurement results are converted to three-dimensional coordinates in the orbital coordinate system via external calibrations. Thus, the static clearance measurement data of high-speed train can be obtained. Experimental results show that the accuracy of this new sensor is more than 1 mm, which satisfies the requirement of static clearance measurement.