The utility model relates to a laser point cloud and visible light image common optical path registration device. The system comprises a laser scanner end and a camera end. The camera end is sequentially provided with a first convex lens, a semi-transparent lens and a concave lens; all the lenses are positioned on the same light path; a second convex lens is arranged at the laser scanner end; laser emitted by the laser scanner passes through the second convex lens and then is reflected to the semi-transparent mirror by the reflecting mirror; the light is reflected to the concave lens by the semi-transparent lens; point cloud data measured by a laser scanner and pixel data of a visible light image are subjected to one-to-one correspondence registration. Compared with the conventional commondata subsequent calculation registration method, the method provided by the utility model combines the measurement light paths of the scanner and the camera into one from the physical light path of data measurement to achieve the registration purpose, so that the registration target can be directly completed, and the registration purpose can also be smoothly completed under the condition that thefeature points of the measured target are not obvious or no feature point exists.