The invention relates to a three-dimensional point cloud reconstruction method and apparatus, a server and a readable storage medium. The method comprises: acquiring an essence matrix based on a matching relationship between feature points of two images and decomposing the essence matrix to obtain a relative rotation matrix and a relative displacement direction vector between the two images; calculating a global rotation matrix based on the relative rotation matrix; calculating a global displacement direction vector based on the relative displacement direction vector; and acquiring a three-dimensional point cloud of a target scene based on the matching relationship between the feature points of the two images, the global rotation matrix and the global displacement direction vector. According to the three-dimensional point cloud reconstruction method provided by the invention, the relative rotation matrix and the relative displacement direction vector between the two images are obtained simultaneously, so that the computing process is simplified and the computing time is saved.