A venous positioning projector includes an infrared light source module, a light splitting element, an infrared light image capture module, a processor, and a visible light projection module. The infrared light source module outputs a first infrared light to a target surface. The infrared light image capture module includes a filter and an infrared light image capture element. The light splitting element transmits a second infrared light reflected by the target surface to the filter. The infrared light image capture element receives the second infrared light passing through the filter. The processor generates venous image data according to the first infrared light and the second infrared light received by the infrared light image capture element. The visible light projection module generates a visible light based on the venous image data. The visible light is transmitted to the target surface through the light splitting element to generate a venous image.