The invention provides a scanning photon counting non-visual-field three-dimensional imaging device and method, relating to the technology of laser imaging. The invention aims to solve a problem that a non-visual-field scene can not be imaged in the prior art. A pulse laser emits laser and gives a time signal to a time correlated single photon counter. Shaped laser is emitted to a wall body, and the laser scatted by the wall body is reflected by a target and then is emitted to the wall body again. A receiving optical system receives the laser returned by the wall body, and the image side visual field of the receiving optical system is same with the visual field of a single photon detector. The time correlated single photon counter calculates photon flight time and obtains a time photon counting diagram. A pulse laser and a single photon detector carry out scanning continuously, and multiple time photon counting diagrams are obtained. A computer reconstructs the 3D image of the target according to the multiple time photon counting diagrams, and a 3D image is obtained. The scanning photon counting non-visual-field three-dimensional imaging device and method are suitable for the three-dimensional imaging of a non-visual-field target.