The invention provides a surface structured light based dynamic detection and compensation method for a highlight or too-dark area in 3D measurement. The method comprises the following steps of projecting surface structured light, collecting an image, carrying out grid partitioning, setting a grayscale threshold, calculating the percentage of pixels greater or lower than the threshold in a grid area, calculating a highlight or too-dark degree, and adjusting, by compensation, the average grayscale I0 and grayscale modulation I1 of a projection raster image in a corresponding area in the projection raster striped image via phase matching so as to adjust the grayscales of the area, corresponding to the highlight or too-dark area of the collected image, in the projection image. Thus, a cameracan collect the striped image whose grayscale information is effective and phase information is clear, the highlight or too-dark area is eliminated and compensated, more effective areas are obtained,and the measuring precision is improved.