An embodiment of the invention provides a laser tracking attitude angle measuring system and method. The system comprises a cooperative target, a monocular vision measurement unit, a laser tracking measurement unit and a calculating unit, wherein the cooperative target is fixedly arranged on a measured object; and the monocular vision measurement unit and the laser tracking measurement unit are fixedly arranged at preset positions respectively. Through structure design of the cooperative target, three-dimensional coordinates of a light spot in a second coordinate system can be obtained accurately according to two-dimensional coordinates of the light spot measured by a two-dimensional PSD; and then, according to identity of spatial vectors corresponding to laser beams and the roll angle ofthe cooperative target in the second coordinate system obtained by the monocular vision measurement unit, calculation is carried out to obtain the attitude angle of the cooperative target in a third coordinate system with respect to a three-dimensional measurement system, that is, to obtain the attitude angle of the measured object. The measuring system overcomes the problem of slow roll angle measurement response and low update rate and the like in the prior art.