A complex surface three-coordinate measuring device includes a three-degree-of-freedom motion platform and a force control probe, the force control probe is fixedly mounted on the Z-axis sliding block, which is in the same direction as the X-axis direction and used to contact with the workpiece surface with constant force. A six-axis force sensor is used to collect the contact force between the stylus and the workpiece surface. In this method, the force control is realized in the measurement to make the stylus in constant force contact with the workpiece surface. The error compensation direction is determined according to the direction of the contact force, and then the effective radius of the stylus spherical head is compensated in this direction, thus the actual contact point of stylus and workpiece can be obtained.