A novel method based on color texture compensation is proposed for three-dimensional (3D) shape measurement of colorful objects. In 3D fringe projection interferometry based on color structured light, color fringe patterns are normally disturbed by the color of the object′s surface. In order to obtain correct fringe order and accurate phase map, a couple of complementary color-encoded fringe patterns are projected onto the surface of object. After decoupling thus the reflectivity matrix of each pixel can be calculated and fringe patterns can be compensated based on the complementary characteristics of the patterns. Wrapped phase map is retrieved through Fourier transform method. Reliable phase unwrapping can be carried out by using the compensated fringe patterns. Experimental results demonstrate the efficiency of the proposed method.