The invention provides a non-cooperative target relative state resolving method based on binocular visual sense; the method comprises the following steps: S1, resolving 3D coordinates of carrier surface characteristic points under a camera coordinate system; S2, resolving a relative posture of a target coordinate system with respect to the camera coordinate system; S3, resolving a relative rotating speed of the target coordinate system with respect to the camera coordinate system. The method can calculate the relative position, relative posture and relative rotating speed, and does not need totrack a set of characteristic points; the method can realize relative state estimation only by ensuring the matched characteristic points number not to be less than 4 at an adjacent time; the methodcan estimate the relative state with a high precision.