A six degree of freedom laser simultaneous measurement system, wherein a laser emitting unit is separated from a fixed sensor head; the laser emitting unit is connected with the fixed sensor head by a single polarization maintaining fiber; a moving unit comprising the reflector and the beam splitter is mounted on the linear guide; utilizing of the single polarization maintaining fiber, which connects the laser emitting unit with the fixed sensor head, reduces the influence of heat generated by laser source on the measurement accuracy, and makes the system more compact and integrated. The six degree of freedom errors, including position error, horizontal and vertical straightness errors, pitch, raw and roll, can be measured simultaneously by only one incident light. The non-cable connection on the moving unit makes long-distance and in-situ measurement possible.