The invention discloses a multi-angle three-dimensional data registration method and device, wherein the method comprises the following steps: obtaining multiple sets of three-dimensional data of a reference plane rotating on a turntable of a three-dimensional scanning system in a preset angle every time, wherein the reference plane is vertical to the turntable; fitting each set of three-dimensional data to obtain multiple fitting planes; determining the rotation direction of a rotating shaft of the three-dimensional scanning system according to the direction of an intersection line of the multiple fitting planes and the same section; determining an optimal space coordinate of the rotating shaft according to the position relationship of the space coordinate of a pivot point on the rotating shaft and the intersection line of the multiple fitting planes and the same section; and performing registration of the three-dimensional scanning data of an object to be scanned obtained under the three-dimensional scanning system according to the optimal space coordinate of the rotating shaft. By means of the technical scheme, the efficiency and the precision for multi-angle three-dimensional data registration can be increased.