The invention discloses a ground laser point cloud registration method, which comprises the following steps: the average spacing and length of point clouds through original point cloud data are automatically estimated, and the size of a voxel grid for establishing a point cloud pyramid is obtained; the FPFH features of all points are established on the top layer of the pyramid point cloud, initialmatching is obtained through bidirectional consistency detection, and initial registration of the point cloud can be rapidly and effectively achieved. On the basis, ICP optimization from coarse to fine is carried out by utilizing the three-dimensional points in the neighborhood of the initial matching result, so that point cloud information in the neighborhood of a homonymous point is richer while the number of point clouds participating in ICP is greatly reduced, and iterative rapid convergence of an ICP algorithm is facilitated.