The embodiment of the invention provides a three-dimensional laser scanning measurement method and a three-dimensional laser scanning measurement device. The method mainly comprises the following steps of: measuring the distance between each measurement point in a neighboring region of an initial measurement point and a rotary measurement head of a three-dimensional laser scanner respectively, calculating a next angle increment of the rotary measurement head by a set algorithm according to the distance between the each measurement point and the rotary measurement head of the three-dimensional laser scanner, obtaining a next measurement point according to the angle increment, and measuring the distance between each measurement point in the neighboring region of the next measurement point and the rotary measurement head of the three-dimensional laser scanner respectively. The method and the device can realize dynamic adjustment of the angle increment of the three-dimensional laser scanner when implementing scanning on the surface of a measured object, further realize equal resolution scanning on the surface of the measurement object, and improve the measurement efficiency and spatial measurement precision of the three-dimensional laser scanner.