Because of the shortcoming of the tranditional contact measurement in terms of small workpiece, such as slow measurement speed and low efficiency, in this paper, binocular vision measurement and line structured light method are combinated to measure the small workpiece on the premise of their own shortcomings. A binocular vision measurement system and two completely symmetrical linear structured light measurement systems are constituted by two CCD cameras and a laser beam. First, spatial coordinate of landmarks is obtained through the binocular measurement system, then matching different positions of system based on the invariance of landmarks, and 3D coordinate of laser line points in the current world coordinate system is obtained through the linear structured light measurement system, which could be matched to the reference coordinate system. Finally, 3D coordinate of the surface points of small workpiece in the reference coordinate system is achieved, which is our measurement purposes. The experiment results show that, this method makes up for the shortcomings of binocular vision measurement method, which has bad effect of the object surface measurement, and line structured light method, which has inconvenient spatial orientation and a little data in a single measurement, with the features of easy operation and strong application. The error of the method is less than 1mm.