A method of color three-dimensional laser scanning measurement based on the monochrome three-dimensional measurement and color digital image is presented. A three-dimensional light plane equation measurement model is derived. A novel calibration method to determine the system parameters is proposed, as well as a calibration jig is designed and produced. An auto-merging technique on color information and the three-dimensional measured data is brought out. The satisfying result is obtained by the experimental measurement on a doll cat model with the system.