The invention discloses laser scanning measurement method and device. The laser scanning measurement method comprises the following steps: A, initializing a laser scanner, an inertial measurement device, a differential global navigation satellite system and a high-resolution digital camera through a central control unit; B, continuously observing satellite signals by virtue of a global navigation satellite system; C, determining a principal optic axis attitude parameter of the laser scanning measurement device by virtue of the inertial measurement device in real time; D, emitting and receiving a laser pulse signal by virtue of the laser scanner; E, shooting images by virtue of the high-resolution digital camera; F, dynamically displaying system state data and real-time collection data of the laser scanning measurement device by virtue of a computer; and G, post-processing software by employing related data. The device is composed of the laser scanner, the inertial measurement device, the differential global navigation satellite system, the high-resolution digital camera, the central control unit and a power supply unit; three-dimensional laser scanning and digital image collection and data treatment can be rapidly and efficiently carried out; and the result accuracy is high.