The invention belongs to the technical field of logistics and volume measurement, and particularly relates to a volume measurement method and system based on a depth image and a depth camera. The method comprises the following steps: S1, acquiring a scene depth map containing an object to be tested, and obtaining scene point cloud coordinates; S2, transforming the scene point cloud coordinates toobtain the scene point cloud coordinates in a depth camera coordinate system; S3, processing the scene point cloud coordinates in the depth camera coordinate system to obtain a coordinate set containing the object to be tested; S4, according to the coordinate set containing the object to be tested, calculating the length, the width and the height of the object to be tested, and multiplying the length, the width and the height to obtain the volume of the object to be tested. Compared with the existing logistics volume measurement scheme, the method can be realized by using a common depth cameraon the market in hardware, and is low in cost, and can accurately measure the volume of the object to be tested in real time when the camera is in a tilt state.