Herein, a measurement method is proposed to obtain the binocular visual position and attitude of a target during the removal of a spatial non-cooperative target. First, an algorithm measuring the position and attitude based on binocular vision is designed. The algorithm detects the docking ring on the target surface based on arc-support line segments. Moreover, it establishes the detection and sifting mechanism of the docking ring in complex environments using polar line constraints and optical flow method. Further, regular marking points with prominent features on the target surface are extracted based on a two-pass algorithm coupled with area and curvature constraints. The measurement algorithm also builds the target coordinate system using the docking ring plane after the execution of a 3-D reconstruction method and regular marking points. Then, the pose relation under the world coordinate system is calculated. Hereafter, the algorithm is transplanted into the DSP6678 information processing platform, and the real-time continuous measurement of the positions and attitudes are realized for a spatial non-cooperative target. The effectiveness of the proposed method is verified using three small satellite model experiments under different working conditions.